欠驱动轮式移动农业机器人的仿真与控制研究
发布时间：2018-07-20 10:40
【摘要】：农业机器人是农业工程科学领域发展的重要方向,属于多学科融合的、综合性的、正处于蓬勃发展和进步中的高新技术。设施农业的发展极大推动了智能农业机械的发展,农业机器人逐渐成为农业智能机械的主攻方向,替代劳动者负责农产品生产管理,提高劳动生产率以及农产品品质,逐渐成为当前国际农业工程发展趋势。本课题在国家自然基金项目“欠驱动轮式移动农业机器人广义动力学及实时控制研究”的资助下进行研究。本文主要研究内容包括:查阅大量国内外相关文献,制定研究总体方案,确定研究技术路线,设计了欠驱动轮式移动农业机器人的机械硬件系统,机器人本体由轮式移动平台和前置的6自由度机械臂组成,通过变换末端执行器(采摘手,夹持器,喷头,除草割刀等)可实现功能扩展与实际功能适用。轮式移动平台主要由车架、后轮驱动机构、前轮转向机构组成;末端执行器则是根据实际作业要求进行灵活组合;后轮驱动机构采用链传动形式保证车体承载能力,适应恶劣的工作环境;前轮转向机构与机械臂底盘转向机构采用同步带传动保证转向精度;6自由度机械臂是由腰、肩、肘三个宏关节与3转动微关节组成的腕关节构成,通过伺服电机串联减速机获取足够力矩驱动机械臂转动实现以期望的速度、方向沿规划轨迹运动。基于Piper法则建立欠驱动轮式农业机器人的六自由度串联机械臂模型,通过D-H参数描述了末端执行器相对于基座坐标系的位姿,建立了D-H坐标系下6自由度串联机械臂正逆运动学方程,并利用Mathmatica软件编程予以符号解算,提出了逆解最优解选取原则,并在MATLAB环境下运用Robotics工具箱仿真模拟机械臂规避障碍,验证6自由度机械臂正逆运动学分析的正确性与机构设计的合理性。设计了以STM32为核心的机器人控制系统,采用PID算法以PWM+方向的控制模式实现机器人工作于速度、位置、力矩模式,编制了基于PID算法的下位机控制程序。在Solidworks环境下完成三维实体建模后,在ADAMS环境下对欠驱动轮式农业机器人进行了力矩、速度、角速度仿真,完成了采摘收获的特定功能仿真,并通过ADAMS与MATLAB联合仿真运用PID算法实现机器人的轨迹跟踪控制。在上述研究的基础上,研制了欠驱动轮式农业机器人第一代样机AMR-1,通过样机试验验证AMR-1机械机构的合理性与控制程序的可靠性、精确性。通过试验发现不足进行改善优化。
[Abstract]:Agricultural robot is an important direction in the field of agricultural engineering science. It belongs to the multi-disciplinary integration, comprehensive, is in the vigorous development and progress of high-tech. The development of facility agriculture has greatly promoted the development of intelligent agricultural machinery. Agricultural robots have gradually become the main direction of agricultural intelligent machinery. Instead of laborers, they are responsible for the production and management of agricultural products, and improve labor productivity and the quality of agricultural products. Gradually become the current international agricultural engineering development trend. The research is supported by the National Natural Fund project, "Generalized Dynamics and Real time Control of underactuated wheeled Mobile Agricultural Robot". The main research contents of this paper are as follows: referring to a large number of domestic and foreign related literature, formulating the overall research plan, determining the research technical route, designing the mechanical hardware system of the underactuated wheeled mobile agricultural robot. The robot body is composed of a wheeled mobile platform and a forward 6-DOF manipulator. The function extension and practical application can be realized by changing the end actuators (picking hand, gripper, sprinkler, weeding cutter, etc.). The wheeled mobile platform is mainly composed of frame, rear wheel drive mechanism, front wheel steering mechanism; end actuator is flexible combination according to actual operation requirements; rear wheel drive mechanism adopts chain drive to ensure the carrying capacity of car body. The front wheel steering mechanism and the mechanical arm chassis steering mechanism adopt synchronous belt transmission to ensure the steering accuracy is 6 degrees of freedom. The manipulator consists of three macro joints of waist, shoulder and elbow and 3 rotating microjoints. The servo motor series reducer acquires enough torque to drive the manipulator rotation to achieve the desired speed and the direction moves along the planned trajectory. Based on the Piper rule, a six-degree-of-freedom series manipulator model of underactuated wheeled agricultural robot is established. The position and orientation of the end actuator relative to the base coordinate system are described by D-H parameters. The forward and inverse kinematics equation of 6-DOF series manipulator in D-H coordinate system is established, and the symbolic solution is solved by Mathmatica software. The principle of selecting optimal solution of inverse solution is put forward, and the obstacle avoidance of manipulator is simulated by Robotics toolbox in MATLAB environment. The correctness of forward and inverse kinematics analysis and the rationality of mechanism design are verified. The robot control system with STM32 as the core is designed. The pid algorithm is used to realize the robot working in the speed, position and torque mode by using the PWM direction control mode. The control program of the lower computer based on the pid algorithm is programmed. After 3D solid modeling was completed in Solidworks, the simulation of torque, velocity and angular velocity of underactuated wheeled agricultural robot was carried out in Adams environment, and the special function simulation of picking and harvesting was completed. The trajectory tracking control of robot is realized by using pid algorithm through Adams and MATLAB simulation. Based on the above research, the first prototype AMR-1 of underactuated wheeled agricultural robot is developed. The rationality of the AMR-1 mechanism and the reliability and accuracy of the control program are verified by the prototype test. The improvement optimization is carried out through the test results.
【学位授予单位】：山东农业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242
本文编号：2133263
[Abstract]:Agricultural robot is an important direction in the field of agricultural engineering science. It belongs to the multi-disciplinary integration, comprehensive, is in the vigorous development and progress of high-tech. The development of facility agriculture has greatly promoted the development of intelligent agricultural machinery. Agricultural robots have gradually become the main direction of agricultural intelligent machinery. Instead of laborers, they are responsible for the production and management of agricultural products, and improve labor productivity and the quality of agricultural products. Gradually become the current international agricultural engineering development trend. The research is supported by the National Natural Fund project, "Generalized Dynamics and Real time Control of underactuated wheeled Mobile Agricultural Robot". The main research contents of this paper are as follows: referring to a large number of domestic and foreign related literature, formulating the overall research plan, determining the research technical route, designing the mechanical hardware system of the underactuated wheeled mobile agricultural robot. The robot body is composed of a wheeled mobile platform and a forward 6-DOF manipulator. The function extension and practical application can be realized by changing the end actuators (picking hand, gripper, sprinkler, weeding cutter, etc.). The wheeled mobile platform is mainly composed of frame, rear wheel drive mechanism, front wheel steering mechanism; end actuator is flexible combination according to actual operation requirements; rear wheel drive mechanism adopts chain drive to ensure the carrying capacity of car body. The front wheel steering mechanism and the mechanical arm chassis steering mechanism adopt synchronous belt transmission to ensure the steering accuracy is 6 degrees of freedom. The manipulator consists of three macro joints of waist, shoulder and elbow and 3 rotating microjoints. The servo motor series reducer acquires enough torque to drive the manipulator rotation to achieve the desired speed and the direction moves along the planned trajectory. Based on the Piper rule, a six-degree-of-freedom series manipulator model of underactuated wheeled agricultural robot is established. The position and orientation of the end actuator relative to the base coordinate system are described by D-H parameters. The forward and inverse kinematics equation of 6-DOF series manipulator in D-H coordinate system is established, and the symbolic solution is solved by Mathmatica software. The principle of selecting optimal solution of inverse solution is put forward, and the obstacle avoidance of manipulator is simulated by Robotics toolbox in MATLAB environment. The correctness of forward and inverse kinematics analysis and the rationality of mechanism design are verified. The robot control system with STM32 as the core is designed. The pid algorithm is used to realize the robot working in the speed, position and torque mode by using the PWM direction control mode. The control program of the lower computer based on the pid algorithm is programmed. After 3D solid modeling was completed in Solidworks, the simulation of torque, velocity and angular velocity of underactuated wheeled agricultural robot was carried out in Adams environment, and the special function simulation of picking and harvesting was completed. The trajectory tracking control of robot is realized by using pid algorithm through Adams and MATLAB simulation. Based on the above research, the first prototype AMR-1 of underactuated wheeled agricultural robot is developed. The rationality of the AMR-1 mechanism and the reliability and accuracy of the control program are verified by the prototype test. The improvement optimization is carried out through the test results.
【学位授予单位】：山东农业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242
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