救援机器人结构设计优化及其运动学与动力学研究

发布时间：2017-12-28 08:44

本文关键词：救援机器人结构设计优化及其运动学与动力学研究　出处：《山东大学》2017年硕士论文　论文类型：学位论文

【摘要】：全球性地震灾害发生频繁,救援任务具有时限紧、对功能性和智能化要求高等特点;目前靠人工救援为主,救援效率低,需要研究轻量化、高灵活性、智能化的机器人。针对以上要求,本文对地震救援机器人的结构设计和尺寸优化、冗余自由度机械手的运动学以及动力学进行了一系列研究。首先分析优化了地震救援机器人的机械臂结构。根据现场作业要求,设计了相应的行走平台和七自由度冗余机械臂。对主要零部件进行了静力学分析,分析结果表明机械臂还有一定的优化空间,为了提高机械臂的负载自重比,基于响应面法进行了相关尺寸优化,优化了机械臂结构。其次进行了七自由度冗余机械臂的运动学研究。基于DH法为机械臂连杆建立局部坐标系,建立了机械臂的运动学方程,并采用蒙特卡罗法求解了机械臂的作业空间;在梯度投影法的基础上综合考虑机械臂奇异构型和关节极限,分析了冗余机械臂的逆运动学问题,并引入位置误差反馈的闭环逆运动学解法,提高了逆运动学的求解精度。然后搭建虚拟样机模型进行动力学仿真实验。基于拉格朗日法建立了机器人动力学方程,基于ADAMS虚拟样机对单个关节进行了定点控制和轨迹跟踪仿真试验。仿真结果表明,单个关节定点控制反应灵敏,轨迹跟踪效果良好。将ADAMS虚拟样机模型导入MATLAB,基于MATLAB/simulink建立机械臂的控制系统,可为将来控制算法验证提供交互式联合仿真平台。最后试制了地震救援机器人物理样机,建立基于快速控制原型技术的实时控制系统,采用传统的PID控制,对物理样机进行了轨迹跟踪试验验证。试验结果证实了冗余七自由度机械臂逆解的实时性和有效性以及动力学仿真结果的正确性。
[Abstract]:With the frequent occurrence of global earthquake disasters, the rescue task has the characteristics of tight time limit, high functionality and intelligence. Currently, artificial rescue is the main task, and the efficiency of rescue is low. Therefore, lightweight, highly active and intelligent robots need to be studied. In view of the above requirements, the structure design and size optimization of earthquake rescue robot, kinematics and dynamics of redundant manipulator are studied in this paper. First, the structure of the mechanical arm of the earthquake rescue robot is analyzed and optimized. According to the requirements of the field operation, the corresponding walking platform and seven degree of freedom redundant manipulator are designed. The static analysis of the main components is carried out. The analysis results show that the manipulator has some optimization space. In order to improve the load to weight ratio of the manipulator, the relevant size optimization is carried out based on the response surface method, and the structure of the manipulator is optimized. Secondly, the kinematics of the seven degree of freedom redundant manipulator is studied. DH method based on the local coordinate system for robot linkage, manipulator kinematics equation was established, and the Monte Carlo method for solving the manipulator workspace; based on the gradient projection method of singular configuration and mechanical arm joint limits into consideration, analysis of the inverse kinematics problem of redundant manipulator, and the introduction of closed-loop position error the feedback of the inverse kinematics solution, improves the precision of inverse kinematics. Then the virtual prototype model is built to carry out the dynamic simulation experiment. Based on the Lagrange method, the dynamic equation of the robot is established. Based on the ADAMS virtual prototype, a fixed point control and trajectory tracking simulation test of a single joint is carried out. The simulation results show that the single joint fixed-point control reaction is sensitive and the track tracking effect is good. The ADAMS virtual prototype model is imported into MATLAB, and the control system of the manipulator is built based on MATLAB/simulink. It can provide an interactive joint simulation platform for future control algorithm verification. Finally, the physical prototype of the earthquake rescue robot is developed, and a real-time control system based on the rapid control prototype technology is established. The trajectory tracking experiment of the physical prototype is verified by the traditional PID control. The experimental results confirm the real-time and effectiveness of the inverse solution of the redundant seven degree of freedom manipulator and the correctness of the dynamic simulation results.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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