全方位移动机器人的运动研究
发布时间：2019-04-04 15:33
【摘要】：本文针对工作空间狭窄、地面不平等复杂作业环境,设计开发了基于串联式安装的MY3轮全方位移动机器人,研究了其全方位运动特性。根据其串联轮式结构,分析了其运动时轮子接地特点,并根据分析结果建立了连续化模型,通过仿真对模型进行验证。在连续化建模基础上,研究了MY3轮的驱动干涉情况,通过运动轨迹优化设计避免驱动干涉,提高了运动精度。对MY3轮的全方位移动机器人进行研究,介绍了实验室自主开发的MY系列轮开发设计过程及移动机器人的平台搭建。并分析了该移动机器人的运动特点,根据约束关系建立了机器人的运动学方程和动力学方程,研究了串联机器人的接地半径的变化情况以及机器人运动时轮子转换情况。针对串联机器人运动时接地半径不连续的问题,提出采用正弦曲线和多项式曲线拟合的方法,建立了机器人连续化运动学模型和动力学模型。在连续化模型基础上对其进行圆形轨迹仿真,分析了不同曲线拟合方法的机器人位姿和速度变化情况,确定了两种曲线拟合方式的优势。基于机器人的驱动力,对曲线拟合方法进行优化,研究了机器人所受的最大滚动摩擦力,分析了机器人轮子运动过程中的所能达到的最大角加速度与曲线参数之间的关系,从而确定了最优曲线参数。根据串联式MY3的特有结构分析了机器人运动时所产生的驱动干涉问题,并建立了速度瞬心的危险驱动干涉区间。为了优化机器人运动轨迹,分别从两方面分析了不同影响因素与轨迹规划的关系,一方面是轨迹半径与运动误差之间的关系;另一方面是轨迹周期与机器人自转周期之间的关系。针对轮子驱动干涉问题,在选取了最优影响参数的基础上,提出平移与自转的方法实现力干涉的合理规避,以达到提高机器人运动精度的目的,并通过MATLAB仿真来验证轨迹规划方法的正确性。
[Abstract]:In this paper, a MY3-wheeled omni-directional mobile robot based on serial installation is designed and developed, aiming at the narrow workspace and unequal working environment on the ground, and the omni-directional motion characteristics of MY3-wheeled mobile robot are studied. According to its series wheel structure, the characteristics of wheel earthing in motion are analyzed. According to the analysis results, a continuous model is established, and the model is verified by simulation. On the basis of continuous modeling, the driving interference of MY3 wheel is studied. The driving interference is avoided by optimizing the motion trajectory, and the motion precision is improved. In this paper, the omni-directional mobile robot of MY3 wheel is studied. The development and design process of MY series wheel developed independently in the laboratory and the platform construction of mobile robot are introduced. The kinematic and dynamic equations of the robot are established according to the constraint relationship. The variation of the grounding radius of the series robot and the transformation of the wheels during the robot's motion are studied. In order to solve the problem of discontinuity of grounding radius in series robot motion, a method of sine curve and polynomial curve fitting is proposed, and the continuous kinematics model and dynamics model of robot are established. On the basis of the continuous model, the circular trajectory simulation is carried out, and the robot posture and velocity changes of different curve fitting methods are analyzed, and the advantages of the two curve fitting methods are determined. Based on the driving force of the robot, the curve fitting method is optimized. The maximum rolling friction of the robot is studied, and the relationship between the maximum angular acceleration and the curve parameters in the process of the robot wheel movement is analyzed. The optimal curve parameters are determined. According to the special structure of series MY3, the problem of driving interference caused by robot motion is analyzed, and the dangerous driving interference interval of instantaneous center of velocity is established. In order to optimize the trajectory of the robot, the relationship between different influencing factors and trajectory planning is analyzed from two aspects, on the one hand, the relationship between the trajectory radius and the motion error is analyzed. On the other hand, it is the relationship between the trajectory period and the rotation period of the robot. Aiming at the problem of wheel-driven interference, on the basis of selecting the optimal influence parameters, this paper puts forward the method of translation and rotation to avoid the interference of real force reasonably, in order to improve the accuracy of robot motion. The correctness of the trajectory planning method is verified by MATLAB simulation.
【学位授予单位】：沈阳航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2453948
[Abstract]:In this paper, a MY3-wheeled omni-directional mobile robot based on serial installation is designed and developed, aiming at the narrow workspace and unequal working environment on the ground, and the omni-directional motion characteristics of MY3-wheeled mobile robot are studied. According to its series wheel structure, the characteristics of wheel earthing in motion are analyzed. According to the analysis results, a continuous model is established, and the model is verified by simulation. On the basis of continuous modeling, the driving interference of MY3 wheel is studied. The driving interference is avoided by optimizing the motion trajectory, and the motion precision is improved. In this paper, the omni-directional mobile robot of MY3 wheel is studied. The development and design process of MY series wheel developed independently in the laboratory and the platform construction of mobile robot are introduced. The kinematic and dynamic equations of the robot are established according to the constraint relationship. The variation of the grounding radius of the series robot and the transformation of the wheels during the robot's motion are studied. In order to solve the problem of discontinuity of grounding radius in series robot motion, a method of sine curve and polynomial curve fitting is proposed, and the continuous kinematics model and dynamics model of robot are established. On the basis of the continuous model, the circular trajectory simulation is carried out, and the robot posture and velocity changes of different curve fitting methods are analyzed, and the advantages of the two curve fitting methods are determined. Based on the driving force of the robot, the curve fitting method is optimized. The maximum rolling friction of the robot is studied, and the relationship between the maximum angular acceleration and the curve parameters in the process of the robot wheel movement is analyzed. The optimal curve parameters are determined. According to the special structure of series MY3, the problem of driving interference caused by robot motion is analyzed, and the dangerous driving interference interval of instantaneous center of velocity is established. In order to optimize the trajectory of the robot, the relationship between different influencing factors and trajectory planning is analyzed from two aspects, on the one hand, the relationship between the trajectory radius and the motion error is analyzed. On the other hand, it is the relationship between the trajectory period and the rotation period of the robot. Aiming at the problem of wheel-driven interference, on the basis of selecting the optimal influence parameters, this paper puts forward the method of translation and rotation to avoid the interference of real force reasonably, in order to improve the accuracy of robot motion. The correctness of the trajectory planning method is verified by MATLAB simulation.
【学位授予单位】：沈阳航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
【参考文献】
相关期刊论文 前10条
1 叶长龙;郭豹;马国静;马书根;;差动式全方位轮的结构设计与强度分析[J];机器人;2014年04期
2 周卫华;王班;黄善均;郭吉丰;;单排连续切换全向轮移动机器人的布局方式与运动的稳定性分析[J];中国机械工程;2014年07期
3 李悦;周利坤;;油罐清洗机器人全方位移动机构的设计与分析[J];机械设计与制造;2013年11期
4 侯康;孙汉旭;贾庆轩;;球—轮复合可变形机器人的结构设计与分析[J];机械工程学报;2012年15期
5 叶长龙;马书根;回丽;;一种全方位移动机器人[J];中国科学:信息科学;2011年02期
6 常勇;马书根;王洪光;谈大龙;宋小康;;轮式移动机器人运动学建模方法[J];机械工程学报;2010年05期
7 朱磊磊;陈军;;轮式移动机器人研究综述[J];机床与液压;2009年08期
8 王一治;常德功;;Mecanum四轮全方位系统的运动性能分析及结构形式优选[J];机械工程学报;2009年05期
9 冷春涛;曹其新;;四轮全方位移动机器人各向相异性研究[J];智能系统学报;2007年03期
10 熊蓉;张翮;褚健;何臻峰;吴永海;;四轮全方位移动机器人的建模和最优控制[J];控制理论与应用;2006年01期
，本文编号：2453948
本文链接：https://www.wllwen.com/kejilunwen/zidonghuakongzhilunwen/2453948.html
