基于多运动步态的蛇形机器人设计与研究

发布时间：2019-05-20 05:31

【摘要】：近年来我国地震、火灾等灾害频繁发生,严重危及到人民的生命和财产安全。由于电缆检测、桥梁检测等高空作业直接夺走救援人员生命的案例时有发生,让人感到悲痛与惋惜。因此研制出一种能够代替或辅助人类完成危险作业的机器人很有必要。仿生机器人是对自然界生物的结构和行为进行模仿,并将其某些特征应用在机器人的设计中,从而研制出具有类似生物外形或机能的机器人系统。近年来仿生机器人的研究十分流行,且逐渐向抢险救灾、管道检测、医学治疗、太空探索等多个方向发展。仿生机器人主要包括多足机器人、飞行机器人以及蛇形机器人等等,蛇形机器人因其身体细长、运动步态稳定等优势被应用在许多不适宜人类工作的复杂领域。基于此背景,本文开展了一种基于多运动步态的蛇形机器人设计与研究,该研究对今后进行抢险救援、高空作业有着重要意义。论文主要从蛇形机器人的机械系统设计、控制系统设计、运动学建模与控制函数分析、运动步态仿真和样机测试四个方面进行了研究。论文的主要内容和取得的成果如下:(1)蛇形机器人的机械系统设计。设计时研究了生物蛇的结构和运动步态,依据舵机尺寸和外部硬件需求,运用SolidWorks软件对连杆关节、蛇头蛇尾进行了设计。设计的机器人有连杆关节紧凑、整机体积小、内部空间大等优点,前后关节之间采用正交连接方式以实现蛇形机器人蜿蜒、蠕动和翻滚等多步态运动。(2)蛇形机器人的控制系统设计。控制系统主要包括了主控系统、从控系统和监控系统,根据需求对主从控系统的硬件电路和监控系统软件分别进行了设计。从控系统与主控系统之间通过Zigbee组网技术完成了数据通信,主控系统集成的多传感器和摄像头能够完成环境温湿度、气压、CO有害气体、热源检测以及视频采集,并通过蓝牙模块和WiFi通信实现了数据信息在监控系统上的在线显示。(3)蛇形机器人运动学建模及控制函数分析。本文采用D-H分析法对蛇形机器人进行了运动学建模,研究了机器人末端位姿与各关节之间的坐标关系。机器人控制函数的研究则是基于Serpenoid控制函数和基于中枢模式发生器(CPG)模型进行了深入探讨和分析。其中对Serpenoid控制函数的参数进行了分析,通过曲线拟合得到蛇形机器人运动形状函数与关节角度函数之间的关系;通过对CPG模型建模和参数分析得到可靠的机器人运动控制信号。二者为蛇形机器人的实际控制奠定了理论基础。(4)蛇形机器人的步态仿真和样机测试。本文基于ADAMS和MATLAB软件对蛇形机器人的Serpenoid控制函数和CPG模型两种方式进行了步态仿真。其中,详细讨论了Serpenoid控制函数中各参数对蛇形机器人蜿蜒、蠕动、翻滚等步态的位移产生的影响,得出稳定步态下对应的较优参数,并对关节的角度和力矩变化进行了分析。另外建立了ADAMS与MATLAB/Simulink联合仿真接口,完成了用CPG模型控制蛇形机器人。最后对蛇形机器人的样机做了步态测试,测试结果显示良好。总的来说,本文设计的蛇形机器人步态稳定可靠、功能齐全,通过对系统的不断改进可将机器人应用于管道检测、高空作业以及灾害救援等复杂环境之中。
[Abstract]:In recent years, the frequent occurrence of earthquakes, fire and other disasters in our country has seriously endangered the lives and property safety of the people. As cable detection, bridge detection and other high-altitude work directly take the lives of rescue workers from time to time, it is sad and sorry. Therefore, it is necessary to develop a robot that can replace or assist a human to complete a dangerous operation. Bionic robot is a kind of robot system with similar biological shape or function. In recent years, the research of the bionic robot is very popular, and has gradually developed in several directions, such as rescue, disaster relief, pipeline detection, medical treatment, space exploration and so on. The bionic robot mainly includes a multi-foot robot, a flying robot, a snake-like robot, and the like, and the snake-like robot is applied to many complex fields which are not suitable for human work because of the advantages of long body, stable movement and gait and the like. Based on this background, this paper has carried out the design and research of a snake-like robot based on the multi-motion gait, which is of great significance to the rescue and high-altitude operation in the future. The paper mainly studies the mechanical system design, the control system design, the kinematic modeling and control function analysis, the motion gait simulation and the prototype test of the snake-like robot. The main contents and achievements of the paper are as follows: (1) The mechanical system design of the snake-like robot. The structure and the movement gait of the snake were studied in the design. Based on the size of the steering gear and the demand of the external hardware, the software of SolidWorks was used to design the joint of the connecting rod and the snakehead of the snake. The designed robot has the advantages of compact connecting rod joint, small size of the whole machine, large internal space and the like, and the front and back joints adopt the orthogonal connection mode to realize the multi-gait movement such as winding, creeping and rolling of the snake-like robot. (2) The design of the control system of the snake-like robot. The control system mainly includes the main control system, from the control system and the monitoring system, the hardware circuit and the monitoring system software of the master-slave control system are designed according to the requirement. the data communication is completed through the Zigbee networking technology between the control system and the main control system, the multi-sensor and the camera of the main control system can finish the environment temperature and humidity, the air pressure, the CO harmful gas, the heat source detection and the video acquisition, And the on-line display of the data information on the monitoring system is realized through the Bluetooth module and the WiFi communication. (3) The kinematic modeling and control function analysis of the snake-like robot. In this paper, the kinematic modeling of the snake-like robot is carried out by the D-H analysis method, and the coordinate relation between the end pose and each joint of the robot is studied. The study of the robot control function is based on the Serpenoid control function and the central mode generator (CPG) model. The parameters of the Serpenoid control function are analyzed, the relation between the shape function of the snake-like robot and the joint angle function is obtained by curve fitting, and a reliable robot motion control signal is obtained through modeling and parameter analysis of the CPG model. The two provide a theoretical basis for the actual control of the snake-like robot. (4) The gait simulation and the prototype test of the snake-like robot. In this paper, the gait simulation of the Serpenoid control function and the CPG model of the snake-like robot is carried out based on the ADAMS and the MATLAB software. In this paper, the influence of each parameter in the Serpenoid control function on the meandering, creep and rolling of the snake-like robot is discussed in detail, and the corresponding optimal parameters under the steady gait are obtained, and the angle and moment variation of the joint are analyzed. In addition, the simulation interface of ADAMS and MATLAB/ Simulink is established, and the snake-like robot is controlled by the CPG model. At last, the model of the snake-like robot was tested, and the result of the test was good. In general, the snake-like robot designed in this paper is stable and reliable, and can be applied to the complex environment such as pipeline detection, high-altitude operation and disaster relief through the continuous improvement of the system.
【学位授予单位】：成都理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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