基于连杆欠驱动爬行机器人机理及攀爬稳定性研究

发布时间：2018-11-04 08:51

【摘要】：爬行机器人作为机器人的一个分支,是机器人领域一个重要的发展方向。爬行机器人研究已成为当今机器人学领域的热门课题之一。近年来随着对仿生机器人研究的不断探索和研究,目前研制出了一些仿生爬行机器人。虽然研发的机器人能够能进行灵活地爬行和方便地操作,但却存在着驱动元件多、结构复杂,控制繁琐、负载能力较差等缺点。本文致力于设计研制一种结构简单,驱动元件少,负载能力强,控制简单的欠驱动爬行机器人。论文的主要工作包括:机器人欠驱动夹紧机构的结构设计,几何参数和驱动参数的理论分析和计算;对夹紧机构和驱动机构静力学和运动学的分析;对爬行机器人进行三维虚拟样机的建模和动力学虚拟仿真分析。本文在对欠驱动机构进行研究的基础上,将欠驱动机构引用到爬行机器人中,设计了爬行机器人的夹紧结构,降低了结构和操作的复杂性。采用力封闭和形封闭理论研究方法分析了包络夹紧状态下的静力学模型及夹紧稳定性等;选用多种传感器、电机、驱动器等设计了爬行机器人的驱动系统;并综合采用三维软件SolidWorks和动力学分析软件ADAMS分别进行虚拟样机模型的建模和动力学虚拟仿真,验证了设计的合理性和可行性。与一般地爬行机器人相比,连杆欠驱动爬行机器人具有驱动元件少、结构紧凑、控制简单,负载大爬行自适应性等优点。将欠驱动机构应用在爬行机器人上,不仅可以较好地增强爬行机器人的实用性,并在一定程度上拓展其应用空间,从而可很好地服务于工业、农业、航空航天及军事等领域。
[Abstract]:As a branch of robot, crawling robot is an important developing direction in robot field. The research of crawling robot has become one of the hot topics in the field of robotics. In recent years, with the research of bionic robot, some bionic crawlers have been developed. Although the robot can crawl flexibly and operate conveniently, it has many disadvantages, such as many driving components, complex structure, cumbersome control, poor load capacity and so on. This paper is devoted to the design and development of an underactuated crawling robot with simple structure, less driving components, strong load capacity and simple control. The main work of this paper includes: the structure design of the underactuated clamping mechanism, the theoretical analysis and calculation of the geometric parameters and the driving parameters, the statics and kinematics analysis of the clamping mechanism and the driving mechanism; The 3D virtual prototype modeling and dynamic virtual simulation analysis of the crawling robot are carried out. Based on the research of underactuated mechanism, this paper applies underactuated mechanism to crawler robot, designs clamping structure of crawling robot, and reduces the complexity of structure and operation. The static model and clamping stability under envelope clamping are analyzed by means of the theory of force seal and shape closure, and the driving system of crawling robot is designed by using a variety of sensors, motors and actuators. The modeling and dynamic simulation of the virtual prototype model are carried out by using the three-dimensional software SolidWorks and the dynamics analysis software ADAMS, respectively. The rationality and feasibility of the design are verified. Compared with the general crawling robot, the link underactuated crawling robot has the advantages of less driving components, compact structure, simple control and large load crawling adaptability. The application of underactuated mechanism to crawling robot can not only enhance the practicability of crawler robot, but also expand its application space to a certain extent, thus it can serve industry, agriculture, aviation and aerospace, military affairs and so on.
【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

【相似文献】