本文選題：四輪移動機(jī)器人 + 時(shí)效性　； 參考：《安徽工程大學(xué)》2017年碩士論文

【摘要】：四輪移動機(jī)器人主要用于生產(chǎn)車間和倉庫之間的物流輸送,鑒于生產(chǎn)車間與倉庫的環(huán)境復(fù)雜、通道狹窄,對四輪移動機(jī)器人的機(jī)動性提出了比較高的要求。針對四輪移動機(jī)器人機(jī)動性研究只出現(xiàn)在零散的文獻(xiàn)中,沒有系統(tǒng)的研究成果,本文針對通過性、靈活性、時(shí)效性三個(gè)方面來對四輪移動機(jī)器人的機(jī)動性展開研究。本文的主要研究內(nèi)容如下:(1)根據(jù)四輪移動機(jī)器人運(yùn)動特征,以及轉(zhuǎn)向原理,結(jié)合車間及倉庫作業(yè)環(huán)境特征,本文選用轉(zhuǎn)彎半徑、過彎道最小時(shí)間、復(fù)雜路況的通過能力等特征參數(shù),基于四輪移動機(jī)器人的運(yùn)動學(xué)原理和動力學(xué)原理定義四輪移動機(jī)器人的機(jī)動性。(2)通過對比幾種典型四輪移動機(jī)器人結(jié)構(gòu)模型的機(jī)動性特點(diǎn),基于研究對象的代表性和適用性等因素,選取研究對象的機(jī)構(gòu)類型;根據(jù)研究對象的機(jī)構(gòu)類型來建模,并闡述建模過程中關(guān)鍵零部件的選型依據(jù)及過程。(3)通過對四輪移動機(jī)器人運(yùn)動特性的分析,建立四輪移動機(jī)器人的動力學(xué)方程和運(yùn)動學(xué)方程,求解與分析四輪移動機(jī)器人轉(zhuǎn)彎半徑,得到一個(gè)準(zhǔn)確系統(tǒng)的四輪移動機(jī)器人轉(zhuǎn)彎半徑的動態(tài)方程。通過控制特定變量的方式,分析四輪移動機(jī)器人轉(zhuǎn)彎半徑的特性,并舉例來證明分析結(jié)果的準(zhǔn)確性。(4)為考察四輪移動機(jī)器人通過彎道時(shí)間的最小值,本文對比幾種典型的路況構(gòu)造特定彎道。通過分析和研究四輪移動機(jī)器人通過彎道的特定極限情況,建立四輪移動機(jī)器人通過彎道的幾個(gè)動態(tài)方程,展開四輪移動機(jī)器人通過彎道時(shí)間最小值分析與研究。(5)通過選取典型的復(fù)雜路況,構(gòu)造具有代表性的路況條件,建立四輪移動機(jī)器人通過此路況的運(yùn)動學(xué)方程,以此考察四輪移動機(jī)器人通過復(fù)雜路況的靈活性。(6)通過構(gòu)造轉(zhuǎn)向模型,用Simlink對轉(zhuǎn)向系統(tǒng)進(jìn)行仿真,對比幾種轉(zhuǎn)向控制系統(tǒng),驗(yàn)證四輪移動機(jī)器人的具備在高速與低速下,具備平穩(wěn)通過彎道的能力。
[Abstract]:The four-wheeled mobile robot is mainly used in the logistics transportation between the production workshop and the warehouse. In view of the complex environment and narrow channel of the production workshop and warehouse, the mobility of the four-wheeled mobile robot is required.In view of the four-wheeled mobile robot mobility research only appears in the scattered literature, there is no systematic research results, this paper focuses on three aspects of mobility, flexibility, timeliness to research the mobility of four-wheeled mobile robot.The main research contents of this paper are as follows: (1) according to the motion characteristics and steering principle of the four-wheel mobile robot, combined with the characteristics of workshop and warehouse working environment, this paper selects the turning radius and the minimum time to cross the bend.Based on the kinematics and dynamics principles of the four-wheeled mobile robot, the mobility of the four-wheeled mobile robot is defined by comparing the mobility characteristics of several typical four-wheeled mobile robot structure models.Based on the representativeness and applicability of the research object, the mechanism type of the research object is selected, and the model is built according to the mechanism type of the research object.The selection basis and process of the key parts in the modeling process are described. By analyzing the kinematic characteristics of the four-wheel mobile robot, the dynamic equations and kinematics equations of the four-wheel mobile robot are established.The turning radius of four-wheel mobile robot is solved and analyzed, and a dynamic equation of turning radius of four-wheel mobile robot is obtained.By controlling certain variables, the characteristics of turning radius of four-wheel mobile robot are analyzed, and an example is given to prove the accuracy of the analysis results.This paper compares several typical road conditions with specific curves.By analyzing and studying the specific limit of the four-wheeled mobile robot passing through the bend, several dynamic equations of the four-wheeled mobile robot passing through the bend are established.Analysis and study on the minimum time of the four-wheeled mobile robot passing through the bend. The kinematics equation of the four-wheeled mobile robot passing through the road condition is established by selecting the typical complex road condition and constructing the representative condition of the road condition.In this way, the flexibility of the four-wheeled mobile robot through complex road conditions is investigated. By constructing the steering model, the steering system is simulated with Simlink, and several steering control systems are compared to verify that the four-wheeled mobile robot is equipped at high speed and low speed.Have the ability to pass smoothly through the bend.
【學(xué)位授予單位】：安徽工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

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本文編號：1762787