六足—四足双运动模式移动机器人系统的研究
发布时间：2019-06-24 13:37
【摘要】：在现代社会,移动机器人已被广泛应用于搜救、侦查、核辐射检测等环境中,代替人类执行困难、复杂和危险的任务。相比于其他运动形式的移动机器人,多足机器人具有更好的环境适应性和越障能力,得到了广泛的关注,典型的代表有六足机器人和四足机器人。现有的六足机器人基本不具备作业能力,或是通过载臂完成作业任务,没有充分利用自身冗余的结构和腿部的多自由度。针对这一问题,本文研制了一种具有六足-四足双运动模式的,能完成一定作业任务的移动机器人系统,并开展了实验研究。针对复杂环境下的作业任务需求,确定了机器人系统的功能和性能要求,基于此设计了一种六足-四足移动机器人系统的结构,包括分段式躯干、变换机构、模块化腿部和四自由度尾部。建立了各部分的运动学模型,进行了运动学分析,并规划了两种运动模式下机器人的典型运动步态和避障轨迹。为分析机器人的稳定性,并对稳定运动规划提供理论依据,对机器人的质量分布进行了简化,推导了系统重心表达式,提出了以压力中心法为依据的稳定性判据,得出了稳定裕度方程。进一步地,分析了尾部机构对机器人系统稳定性的调节作用,并据此提出了基于尾部自调节的稳定步态规划方法,即根据尾部的调整来平衡多足运动以及双足操作过程产生的对系统质心偏移的影响,保证了系统的稳定。本文还开发以STM32系列芯片为控制核心的嵌入式控制系统,编写了机器人的运动控制程序和上位机软件,实现了上位机与机器人的无线通信。最后,完成了六足-四足移动机器人系统样机的制作与调试,并开展了一系列实验,包括基本运动实验、楼梯攀爬实验和货物搬运实验。结果表明,所设计的机器人具有较好的运动能力和作业能力。
[Abstract]:In modern society, mobile robots have been widely used in search and rescue, detection, nuclear radiation detection and other environments, instead of human performing difficult, complex and dangerous tasks. Compared with other mobile robots, multi-legged robots have better environmental adaptability and obstacle-crossing ability, and have received extensive attention, typical of which are hexapod robots and quadruped robots. The existing hexapod robots basically do not have the working ability, or complete the task by carrying the arm, and do not make full use of their redundant structure and the multi-degree of freedom of the legs. In order to solve this problem, a mobile robot system with hexapod-quadruped biped motion mode and can complete certain tasks is developed in this paper, and the experimental research is carried out. According to the requirements of task in complex environment, the function and performance requirements of robot system are determined. Based on this, a structure of hexapod-quadruped mobile robot system is designed, which includes segmented torso, transformation mechanism, modular leg and four-degree-of-freedom tail. The kinematic models of each part are established, the kinematic analysis is carried out, and the typical motion gait and obstacle avoidance trajectory of the robot in the two motion modes are planned. In order to analyze the stability of the robot and provide the theoretical basis for the stable motion planning, the mass distribution of the robot is simplified, the expression of the center of gravity of the system is derived, the stability criterion based on the pressure center method is put forward, and the stability margin equation is obtained. Furthermore, the effect of tail mechanism on the stability of robot system is analyzed, and a stable gait planning method based on tail self-adjustment is proposed, that is, the influence of multi-foot motion and bipedal operation process on the centrocenter deviation of the system is balanced according to the adjustment of tail, which ensures the stability of the system. This paper also develops an embedded control system with STM32 series chip as the control core, compiles the motion control program and upper computer software of the robot, and realizes the wireless communication between the upper computer and the robot. Finally, the prototype of hexapod-quadruped mobile robot system is made and debugged, and a series of experiments are carried out, including basic motion experiment, staircase climbing experiment and cargo handling experiment. The results show that the designed robot has good motion ability and operation ability.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2505097
[Abstract]:In modern society, mobile robots have been widely used in search and rescue, detection, nuclear radiation detection and other environments, instead of human performing difficult, complex and dangerous tasks. Compared with other mobile robots, multi-legged robots have better environmental adaptability and obstacle-crossing ability, and have received extensive attention, typical of which are hexapod robots and quadruped robots. The existing hexapod robots basically do not have the working ability, or complete the task by carrying the arm, and do not make full use of their redundant structure and the multi-degree of freedom of the legs. In order to solve this problem, a mobile robot system with hexapod-quadruped biped motion mode and can complete certain tasks is developed in this paper, and the experimental research is carried out. According to the requirements of task in complex environment, the function and performance requirements of robot system are determined. Based on this, a structure of hexapod-quadruped mobile robot system is designed, which includes segmented torso, transformation mechanism, modular leg and four-degree-of-freedom tail. The kinematic models of each part are established, the kinematic analysis is carried out, and the typical motion gait and obstacle avoidance trajectory of the robot in the two motion modes are planned. In order to analyze the stability of the robot and provide the theoretical basis for the stable motion planning, the mass distribution of the robot is simplified, the expression of the center of gravity of the system is derived, the stability criterion based on the pressure center method is put forward, and the stability margin equation is obtained. Furthermore, the effect of tail mechanism on the stability of robot system is analyzed, and a stable gait planning method based on tail self-adjustment is proposed, that is, the influence of multi-foot motion and bipedal operation process on the centrocenter deviation of the system is balanced according to the adjustment of tail, which ensures the stability of the system. This paper also develops an embedded control system with STM32 series chip as the control core, compiles the motion control program and upper computer software of the robot, and realizes the wireless communication between the upper computer and the robot. Finally, the prototype of hexapod-quadruped mobile robot system is made and debugged, and a series of experiments are carried out, including basic motion experiment, staircase climbing experiment and cargo handling experiment. The results show that the designed robot has good motion ability and operation ability.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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