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仿蛇搜救机器人关节性能分析与运动模态拓展研究

发布时间:2018-09-17 15:22
【摘要】:仿蛇搜救机器人具备多种运动模态,其多地形适应能力优于履带式、足式、飞行搜救机器人,在灾难搜救工作中具有广阔应用前景。关节机构和运动模态一直是仿蛇机器人研究工作中的热点和难点。然而目前对关节机构的研究仅停留在活动度和工作空间层面,对运动模态的研究注重稳定性忽略了机动性。针对关节机构性能研究不深入、运动模态缺乏机动性问题,本文以采用仿生并联关节和正交主动轮的仿蛇搜救机器人为研究对象,对其关节性能和运动模态进行深入研究,主要内容为:1、从生物蛇运动机理出发,研究一种用于仿蛇搜救机器人的仿生并联关节。采用旋量系与互易旋量系理论,对仿生并联关节运动约束特点进行分析。结合旋量代数结构与牛顿-欧拉法建立仿生并联关节动力学模型,在此基础上研究运动过程中各运动副和构件受力特性。2、针对仿生并联关节少自由度和支链变形特点,研究其在可达工作空间内灵巧性和静刚度分布。在运动学分析基础上以驱动雅可比矩阵条件数构建仿生并联关节灵巧性指标。考虑关节中约束支链弯曲变形和驱动支链弹性变形,利用变形协调条件和虚功原理建立仿生并联关节刚度模型,然后分析线刚度和角刚度分布规律。3、针对仿蛇搜救机器人蜿蜒运动在含有斜坡和柱体的地形中运动效率低问题,结合正交主动轮机动性和仿生并联关节自锁特性,拓展研究新型轮式运动模态。基于旋量理论建立仿蛇搜救机器人动力学模型,通过分析转弯、柱体爬升运动模态中的运动约束特性,简化适用于控制的动力学方程。
[Abstract]:Snake imitation search and rescue robot has a variety of motion modes, and its multi-terrain adaptability is superior to that of crawler, foot and flight search and rescue robot, so it has a broad application prospect in disaster search and rescue work. Joint mechanism and motion mode are always the hot and difficult points in the research of snake-like robot. However, the research of joint mechanism only focuses on the level of motion and workspace, and the study of motion mode pays attention to stability and neglects mobility. Aiming at the problem that the research on the performance of joint mechanism is not deep and the motion mode is lack of mobility, this paper studies the joint performance and motion mode of the snake imitation robot which adopts the bionic parallel joint and orthogonal active wheel as the research object. The main content is: 1. Based on the motion mechanism of biological snake, a kind of bionic parallel joint for snake imitation search and rescue robot is studied. Based on the theory of spinor system and reciprocal spinor system, the kinematic constraints of bionic parallel joints are analyzed. Combined with spinor algebraic structure and Newton-Euler method, the dynamics model of bionic parallel joint is established. Based on this, the mechanical characteristics of each pair and component in the course of motion are studied. The characteristics of less degree of freedom and branch chain deformation of bionic parallel joint are discussed. The dexterity and static stiffness distribution in reachable workspace are studied. On the basis of kinematics analysis, the dexterity index of bionic parallel joints is constructed by using the condition number of driving Jacobian matrix. Considering the bending deformation of the constrained branch chain and the elastic deformation of the driving branch chain in the joint, the stiffness model of the bionic parallel joint is established by using the deformation coordination condition and the principle of virtual work. Then, the distribution of linear and angular stiffness is analyzed. 3. Aiming at the problem of low efficiency in the terrain with slope and cylinder, the paper combines the mobility of orthogonal active wheel and the self-locking characteristic of bionic parallel joint. Expand the research on the new wheel motion mode. Based on the spinor theory, the dynamic model of a snake imitation search and rescue robot is established. By analyzing the kinematic constraints in the mode of turning and climbing of the cylinder, the dynamic equations suitable for the control are simplified.
【学位授予单位】:北京化工大学
【学位级别】:硕士
【学位授予年份】:2016
【分类号】:TP242

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