基于可变形车轮结构的阶梯攀爬机器人分析与越障研究

发布时间：2018-07-28 07:03

【摘要】：机器人作为引领智能制造的典型代表和推动新工业革命的关键,在全球新一轮工业革命来袭的浪潮下,受到了全世界的高度关注,服务机器人作为我国机器人产业发展的重要突破口,已成为今后我国机器人产业发展的新趋势。本课题结合我国服务机器人的发展现状,提出了一种结构简单、控制容易、造价低廉、运行平稳的智能阶梯攀爬服务机器人,为在未安装电梯楼层和阶梯环境下货物运输问题提供了有效的解决方案。本文主要研究了阶梯攀爬机器人机械结构和越障运动中的一些关键问题,其中包括机器人机械系统和变形轮机构的分析和运动仿真,机器人越障及运动稳定性研究,虚拟样机试验以及物理样机试验等。具体内容如下:首先,介绍了机器人的功能模块、传动系统、驱动方式、车轮配置以及机器人关键机械机构和总体布局等,并在Creo Parametric和ANSYS仿真平台下对可变形轮行走机构分别进行了变形运动和静力学仿真分析,同时对机器人在不同环境下的两种运动模式即轮式运动模式和腿式运动模式进行了分析研究。其次,对机器人所处的障碍地形进行了提取和简化,研究了机器人成功越障时所需的几何条件和受力条件,并在此基础上对机器人在典型地形中越障运动进行了分析,得出了机器人的越障动力学模型、爬坡能力以及临界稳定角。最后,以虚拟样机技术为基础,利用ADAMS仿真平台完成了机器人在三种典型障碍环境下的运动仿真,同时制作了阶梯攀爬机器人物理样机,利用样机试验对机器人性能进行了测试。通过虚拟样机试验和物理样机试验对设计方案和机器人实际性能进行了验证,结果表明,基于可变形车轮结构的阶梯攀爬机器人具有良好的越障性能和运动稳定性,能够很好地实现预期的基本越障功能,同时也为机器人优化设计提供了理论依据。
[Abstract]:As the typical representative of leading intelligent manufacturing and the key to promote the new industrial revolution, robot has been highly concerned by the whole world under the new wave of the global industrial revolution. As an important breakthrough in the development of China's robot industry, service robot has become a new trend in the future development of our country's robot industry. Based on the development of service robot in China, this paper presents an intelligent ladder climbing service robot with simple structure, easy control, low cost and stable operation. It provides an effective solution to the freight transportation problem in the uninstalled elevator floor and ladder environment. This paper mainly studies some key problems in the mechanical structure and obstacle movement of ladder climbing robot, including the analysis and motion simulation of robot mechanical system and deformable wheel mechanism, and the research on the obstacle surmounting and motion stability of robot. Virtual prototype test and physical prototype test. The main contents are as follows: firstly, the function module, transmission system, driving mode, wheel configuration, key mechanical mechanism and overall layout of the robot are introduced. The deformation motion and statics analysis of the deformable wheel walking mechanism are carried out under the Creo Parametric and ANSYS simulation platform, respectively. At the same time, the two motion modes of robot in different environments, wheeled motion mode and leg motion mode, are analyzed and studied. Secondly, the obstacle terrain in which the robot is located is extracted and simplified, and the geometric and mechanical conditions required for the robot to successfully cross the obstacle are studied, and on this basis, the movement of the robot in the typical terrain is analyzed. The dynamic model, climbing ability and critical stability angle of the robot are obtained. Finally, based on the virtual prototyping technology, the motion simulation of the robot in three typical obstacle environments is completed by using the ADAMS simulation platform. At the same time, the physical prototype of the ladder climbing robot is made. The performance of the robot was tested by prototype test. The design scheme and the actual performance of the robot are verified by virtual prototype test and physical prototype test. The results show that the ladder climbing robot based on deformable wheel structure has good performance of obstacle surmounting and motion stability. It can achieve the expected basic obstacle function and provide the theoretical basis for the optimal design of the robot.
【学位授予单位】：兰州理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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