球形两栖机器人的稳定性分析

发布时间：2018-10-31 16:55

【摘要】：随着现代社会不断地向前飞速发展,机器人技术与人类日常生活的关系变得越来越密不可分。球形两栖机器人是机器人的重要组成部分,由于它是一种对称的结构,所以它具有良好的环境适应性以及运动稳定性,并且已经广泛地应用于日常生活的各个领域之中。因此对于球形两栖机器人的研究已经成为机器人研究领域的一个热门话题。机器人广泛应用的前提是必须具有稳定的结构和性能,所以对于球形两栖机器人稳定性的研究和分析是必不可少的。首先,本论文介绍了一种新型的球形两栖机器人系统。该机器人是一种整体对称的球形结构,其具有结构稳定,噪声小,运动灵活等特点,它用带有喷水直流推进器的喷水管作为自己的驱动腿单元,该机器人不仅能够在陆地上的运行,还可以在水下环境中完成各种运动和作业。其次,为了分析球形两栖机器人的陆地稳定性和水下稳定性,先进行了球形两栖机器人的稳定性理论分析,然后运用流固耦合力学理论对球形两栖机器人在陆地环境下的运动进行了仿真分析,得出了球形两栖机器人的总体变形图,弹性应变分布以及等效应力分布,并分析了球形两栖机器人的陆地运动稳定性。球形两栖机器人铜柱和水平舵机接触处受到的压强最大,达到了5 Pa,远远小于材料的屈服强度,满足稳定性要求。最后进行了球形两栖机器人的陆地稳定性实验,验证了球形两栖机器人在不同步频和步幅时的稳定性,得出了球形两栖机器人在陆地运行时的最优摆动角度为30°,最优摆动周期为0.2 s。最后,简要介绍了流体力学分析理论,绘制了球形两栖机器人的简化模型,对喷水推进器进行了流体力学分析。并对球形两栖机器人以及周围水域进行了网格划分,施加相应的约束,利用ANSYS软件进行水下仿真,得到球形两栖机器人在水下的压力云图和速度矢量图,并分析了仿真结果,验证了球形两栖机器人的稳定性。当球形两栖机器人在水下做上升运动时,球壳顶部受到的力最大,达到了16N,远小于亚克力材料的结构强度,满足稳定性要求。之后进行了球形两栖机器人的水下稳定性实验,并分析了实验结果。当球形两栖机器人在推进器输入电压为6V时,球形两栖机器人在前进运动时的偏航角最小,在10°左右。为最稳定的运动状态。还进行了球形两栖机器人沿直线运动的稳定性实验,当球形两栖机器人在水下运动时,位移偏移最大值在0.1m以内,说明球形两栖机器人具有沿直线运动的稳定性;最后进行了球形两栖机器人的轨迹跟踪实验,验证了球形两栖机器人的轨迹跟踪能力。
[Abstract]:With the rapid development of modern society, the relationship between robot technology and human daily life becomes more and more inseparable. Spherical amphibious robot is an important part of robot. Because it is a symmetrical structure, it has good environmental adaptability and motion stability, and has been widely used in every field of daily life. Therefore, the research of spherical amphibious robot has become a hot topic in the field of robot research. It is necessary to study and analyze the stability of spherical amphibious robot because of its stable structure and performance. Firstly, this paper introduces a new spherical amphibious robot system. The robot is an integral symmetric spherical structure with stable structure, low noise and flexible movement. It uses a water spray pipe with a water jet DC propeller as its driving leg unit. The robot can not only operate on land, but also accomplish all kinds of motion and operation in underwater environment. Secondly, in order to analyze the land stability and underwater stability of spherical amphibious robot, the stability theory of spherical amphibious robot is analyzed. Then the motion of spherical amphibious robot in terrestrial environment is simulated and analyzed by using the theory of fluid-solid coupling mechanics, and the global deformation diagram, elastic strain distribution and equivalent stress distribution of spherical amphibious robot are obtained. The land motion stability of spherical amphibious robot is analyzed. The contact pressure between the copper column and the horizontal steering gear of the spherical amphibious robot is the largest, which is much smaller than the yield strength of the material for 5 Pa, and meets the requirements of stability. Finally, the land stability experiments of spherical amphibious robot are carried out, and the stability of spherical amphibious robot at different stride frequency and stride is verified, and the optimal swing angle of spherical amphibious robot is 30 掳when it is running on land. The optimal oscillation period is 0.2 s. Finally, the hydrodynamic analysis theory is briefly introduced, the simplified model of spherical amphibious robot is drawn, and the hydrodynamic analysis of water jet propeller is carried out. The spherical amphibious robot and its surrounding waters are meshed, and the corresponding constraints are imposed. The pressure cloud map and velocity vector diagram of the spherical amphibious robot under water are obtained by using ANSYS software, and the simulation results are analyzed. The stability of spherical amphibious robot is verified. When the spherical amphibious robot moves upward under water, the force on the top of the spherical shell is the largest, reaching 16 Ns, which is far less than the structural strength of the Yake-force material and meets the requirements of stability. Then the underwater stability experiment of spherical amphibious robot is carried out, and the experimental results are analyzed. When the input voltage of the spherical amphibious robot is 6V, the yawp angle of the spherical amphibious robot is minimum, about 10 掳. For the most stable state of motion. The stability experiment of spherical amphibious robot along the straight line is also carried out. When the spherical amphibious robot moves under water, the maximum displacement deviation is less than 0.1 m, which indicates that the spherical amphibious robot has the stability along the straight line. Finally, the trajectory tracking experiment of spherical amphibious robot is carried out to verify the tracking ability of spherical amphibious robot.
【学位授予单位】：天津理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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