水下机器人矢量推进机构的构型综合与动力学建模

发布时间：2018-01-21 09:48

本文关键词： 水下机器人矢量推进器构型综合动力学仿真分析　出处：《山东大学》2017年硕士论文　论文类型：学位论文

【摘要】：矢量推进技术目前较成熟的应用在航空航天等领域,应用在水下机器人的单机构多姿态矢量推进技术是对此推进技术较新颖的探索,本文以设计具有旋转运动传递功能和空间姿态调整功能的矢量推进器为目标,基于螺旋理论开展少自由度并联机构的水下机器人单机构多姿态矢量推进机构方案的创新设计。本文研究的主要内容如下:首先,本文分析了水下机器人矢量推进功能的需求,归纳出可用来综合矢量推进机构的所有可能形式的8类分支运动链,并分别给出了 8类分支运动链的组合方式;结合螺旋理论的理论方法,归纳出3大类并联矢量推进机构,全面而系统地解决了具有两个方向偏转的并联矢量推进器型综合问题,给出了 3大类并联矢量推进机构的设计思路,并提出了可行的构型方案,分析了相应的力约束和运动特性,分别给出了 3大类并联矢量推进机构的设计范例。然后,采用构造过约束并联机构的方法设计了一种3自由度RRR-RR-RU球面并联矢量推进机构。基于螺旋理论构建了矢量推进球面并联机构的拓扑结构模型,分析了机构的运动特性,计算了机构的位姿正逆解。在闭链约束方程的基础上运用矢量代数法推导出了机构的雅可比矩阵。利用特征结构配置的解耦法建立了机构的速度和加速度模型,分析了机构的工作空间和灵巧度等运动学特征。最后,本文利用螺旋理论对水下机器人的RRR-RR-RU球面并联矢量推进机构进行了动力学建模,并结合水动力学分析了工作环境的影响,使螺旋理论体系在水下机器人动力学建模中得到进一步完善。结合算例对矢量推进机构进行了MATLAB和ADAMS联合仿真分析,验证了设计原理的正确性和可行性。分析由于多支链矢量推进机构在稳定性和控制性方面的优势,本文的研究具有一定的实用价值和广阔的应用前景。
[Abstract]:Vector propulsion technology is now more mature in aerospace and other fields, the application of single mechanism multi-attitude vector propulsion technology in underwater vehicles is a relatively novel exploration of this propulsion technology. The aim of this paper is to design a vector propeller with rotating motion transfer function and spatial attitude adjustment function. Based on the spiral theory, the innovative design of multi-attitude vector propulsion mechanism of underwater vehicle single mechanism based on screw theory is carried out. The main contents of this paper are as follows: first. In this paper, the requirements of vector propulsion function of underwater vehicle are analyzed, and eight kinds of branch motion chains which can be used to synthesize vector propulsion mechanism are concluded, and the combination modes of eight kinds of branch motion chains are given respectively. Combined with the theory and method of helical theory, three kinds of parallel vector propulsion mechanisms are summed up, and the synthesis problem of parallel vector propeller with two directions deflection is solved comprehensively and systematically. The design ideas of three kinds of parallel vector propulsion mechanisms are given, and the feasible configuration scheme is put forward, and the corresponding force constraints and kinematic characteristics are analyzed. The design examples of three kinds of parallel vector propulsion mechanisms are given respectively. A 3-DOF RRR-RR-RU spherical parallel vector propulsion mechanism is designed by using the method of constructing unconstrained parallel mechanism. Based on the helical theory, the topological structure model of vector propulsion spherical parallel mechanism is constructed. The kinematic characteristics of the mechanism are analyzed. Based on the closed chain constraint equation, the Jacobian matrix of the mechanism is derived by using vector algebraic method. The velocity and acceleration models of the mechanism are established by the decoupling method of the eigenstructure configuration. The kinematic characteristics of the mechanism such as workspace and dexterity are analyzed. Finally, the dynamic modeling of the RRR-RR-RU spherical parallel vector propulsion mechanism of underwater vehicle is carried out by using the helical theory. Combined with hydrodynamics, the influence of working environment is analyzed. The helical theory system is further improved in the dynamic modeling of underwater vehicle. Combined with an example, the vector propulsion mechanism is simulated by MATLAB and ADAMS. The correctness and feasibility of the design principle are verified. Due to the advantages of the multi-branch chain vector propulsion mechanism in stability and controllability, the research in this paper has certain practical value and broad application prospect.
【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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