抛投式侦查机器人设计与分析

发布时间：2018-06-25 08:00

本文选题：抛投式侦查机器人 + 平衡稳定　；参考：《南京理工大学》2017年硕士论文

【摘要】：移动侦查机器人作为当代军用机器人重要分支,形成了一定规模的产品群,拥有较好的技术积累,抛投式侦查机器人作为近年来新兴的研究方向,研究前景广阔。本文在收集和分析国内外现有研究成果的基础上,设计了一款可采用抛掷布设的小型抛投式侦查机器人,针对机器人的硬件设计、结构设计、平衡稳定性以及运动学动力学分析等内容展开了研究工作。结合国内外相关产品,提出了抛投式侦查机器人的技术指标,质量体积小、结构简单、拥有一定的越障能力,提出了机器人的总体设计方案。基于设计方案,阐述了机器人的工作流程与原理,完成了机器人的整体结构设计,进行了机器人控制系统设计与硬件设计,并构建了完整的三维模型。针对抛掷布设过程后机器人姿态稳定性问题,对机器人结构进行了优化,包括主轴质心布局优化、平衡技术的提出与平衡体设计。主轴质心布局优化依靠机械设计软件,提升主轴体的稳定性。革新传统倒立摆结构稳定性的复杂方案,设计辅助机构平衡体,并借助MATLAB软件对平衡体结构进行分析与优化,重点分析了复杂环境中多种着陆方式机器人恢复平衡状态的原理。针对小型机器人抗摔抗震性能提升的问题,对机器人进行了轻量化设计,并针对关键部位轮轴配合处优化装配方式,引入冲击载荷计算论证设计合理性与可靠性。针对轮式移动机器人运动稳定性与避障性能的问题,对机器人构建运动学模型,进行了运动规划与动力学分析,并运用ADAMS软件对机器人进行动态仿真,验证了多种结构环境下运动规划的可行性,特别是产生越障扰动后,机器人调整位姿的可行性。
[Abstract]:As an important branch of modern military robot, mobile reconnaissance robot has formed a certain scale product group, and has a good technology accumulation. As a new research direction in recent years, the research prospect of projectile reconnaissance robot is broad. On the basis of collecting and analyzing the existing research results at home and abroad, this paper designs a kind of small projectile reconnaissance robot which can be set up by throwing, aiming at the hardware design and structure design of the robot. The equilibrium stability and kinematics and dynamics analysis have been carried out. Combined with the related products at home and abroad, this paper puts forward the technical index of the projectile investigative robot, which has the advantages of small volume, simple structure and certain ability of surmounting obstacles, and puts forward the overall design scheme of the robot. Based on the design scheme, the workflow and principle of the robot are expounded, the whole structure of the robot is designed, the control system and hardware of the robot are designed, and a complete 3D model is constructed. Aiming at the stability of robot attitude after throwing placement, the structure of the robot is optimized, including the optimization of the centroid layout of the spindle, the development of the balancing technology and the design of the balancing body. The optimization of spindle centroid layout depends on mechanical design software to improve the stability of spindle body. This paper innovates the complex scheme of the stability of traditional inverted pendulum, designs the balance body of auxiliary mechanism, analyzes and optimizes the balance structure with MATLAB software, and emphatically analyzes the principle of restoring balance state of multi-landing robot in complex environment. Aiming at the problem of improving the anti-fall seismic performance of small robot, the lightweight design of the robot is carried out, and the design rationality and reliability of the design are demonstrated by introducing the impact load calculation to optimize the assembly mode of the key parts of the wheel-shaft fit. Aiming at the problem of motion stability and obstacle avoidance performance of wheeled mobile robot, the kinematics model of the robot is constructed, the motion planning and dynamic analysis are carried out, and the dynamic simulation of the robot is carried out by using Adams software. The feasibility of motion planning in various structural environments is verified, especially the feasibility of the robot's position and posture adjustment after the disturbance of obstacle crossing is generated.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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