酒店服务机器人结构设计与运动控制研究

发布时间：2018-06-07 15:31

本文选题：酒店服务机器人 + 全向移动　；参考：《西南交通大学》2017年硕士论文

【摘要】：随着科技的快速发展以及人们生活水平的不断提高,服务机器人正逐步走进人们的日常生活中,涉及医疗护理、智能清洁、娱乐教育、酒店服务等多个领域。通常,服务机器人的设计内容主要涵盖外观造型、机械系统、硬件及软件系统的设计。本文以低成本、低实现难度、较高可靠性为设计原则,根据酒店客房的实际应用场景对服务机器人进行了结构设计,并在此基础之上对所研究的服务机器人进行了运动控制研究。首先通过对国内外服务机器人设计要点的分析和借鉴,基于标准化和模块化的设计方法,利用Solidworks三维软件完成了酒店服务机器人的机械结构设计。在具体的结构设计上,通过对多种机器人移动底盘结构的适用性进行了对比与分析,选择将三轮全向移动底盘结构作为酒店服务机器人的移动机构;针对酒店服务机器人功能及外形需求,对服务机器人身体框架结构及外观造型进行了设计。在此基础上,对服务机器人的主要受力部件进行了强度校核,并对服务机器人运动控制系统硬件选型、软件设计进行了分析说明。其次通过坐标变换法和牛顿定律分别建立了酒店服务机器人的运动学、动力学模型,得到了服务机器人移动底盘全向轮转速与机器人移动速度的关系、移动底盘驱动电机力矩和机器人移动速度及加速度之间的关系,并对服务机器人在平面移动过程中的基本运动特性进行了分析研究。接着为了验证服务机器人结构设计的合理性,利用ADAMS虚拟样机仿真软件建立了酒店服务机器人虚拟样机模型,并依据实际情况创建了仿真环境,其中包含对服务机器人本体关键部件材料属性以及接触关系参数的选择。然后,对建立的服务机器人虚拟样机模型进行了平直路面、斜坡等路况的运动仿真,并分析了服务机器人移动速度及减震弹簧刚度大小对机器人移动平稳性的影响,为物理样机的结构设计提供了参考依据。在酒店服务机器人的运动控制方面,以所研究服务机器人的运动学模型为基础,研究了基于两编码器加单轴陀螺仪的室内定位算法。然后在全局定位的基础之上,重点研究了服务机器人的全局轨迹跟踪控制问题,本文以该服务机器人位姿误差运动学模型为研究对象,以线速度和角速度为控制输入,设计了基于Backstepping算法的全局轨迹跟踪控制器,并通过MATLAB编程对直线、圆周两种轨迹跟踪进行了仿真实验验证,仿真实验结果表明了所设计控制器的有效性。最后分析了如何将研究的定位算法和轨迹跟踪控制算法应用在实际的服务机器人运动控制中。
[Abstract]:With the rapid development of science and technology and the continuous improvement of people's living standards, service robots are gradually entering into people's daily life, involving medical care, intelligent cleaning, entertainment education, hotel services and other fields. In general, the design of service robots mainly covers the design of appearance modeling, mechanical systems, hardware and software systems. Based on the design principle of low cost, low realization difficulty and high reliability, this paper designs the structure of the service robot according to the practical application scene of hotel room. On this basis, the research on motion control of the service robot is carried out. Based on the design method of standardization and modularization, the mechanical structure design of hotel service robot is completed by using Solidworks software, which is based on the analysis and reference of the design essentials of service robot at home and abroad. In the specific structure design, through the comparison and analysis of the applicability of the mobile chassis structure of various robots, the three-wheeled all-directional mobile chassis structure is chosen as the mobile mechanism of the hotel service robot. According to the function and appearance requirement of hotel service robot, the frame structure and appearance of service robot are designed. On this basis, the strength of the main force components of the service robot is checked, and the hardware selection and software design of the motion control system of the service robot are analyzed and explained. Secondly, the kinematics and dynamics models of hotel service robot are established by coordinate transformation method and Newton's law, and the relationship between the rotation speed of the mobile chassis and the moving speed of the robot is obtained. The relationship between the torque of moving chassis driving motor and the moving speed and acceleration of the robot is studied. The basic motion characteristics of the service robot in the process of planar movement are analyzed and studied. Then, in order to verify the rationality of the structure design of service robot, the virtual prototype model of hotel service robot is established by using ADAMS virtual prototyping simulation software, and the simulation environment is created according to the actual situation. It includes the selection of material properties and contact relation parameters of the key components of the service robot. Then, the virtual prototype model of the service robot is simulated, and the effects of the moving speed of the service robot and the stiffness of the shock absorber spring on the moving stability of the robot are analyzed. It provides a reference for the structure design of the physical prototype. Based on the kinematics model of hotel service robot, the indoor positioning algorithm based on two encoders and single axis gyroscope is studied. Then, on the basis of global positioning, the global trajectory tracking control problem of the service robot is studied. The kinematics model of the pose error of the service robot is taken as the research object, and the linear velocity and angular velocity are taken as the control input. A global trajectory tracking controller based on Backstepping algorithm is designed, and the simulation results of linear and circumferential trajectory tracking are verified by MATLAB programming. The simulation results show the effectiveness of the proposed controller. Finally, this paper analyzes how to apply the localization algorithm and trajectory tracking control algorithm to the actual robot motion control.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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