【摘要】：現(xiàn)階段境內(nèi)外民族分裂和宗教極端勢(shì)力活動(dòng)頻繁,我國(guó)遭受恐怖主義襲擊的現(xiàn)實(shí)可能性增加�？植阑顒�(dòng)不僅對(duì)人民群眾的生命財(cái)產(chǎn)構(gòu)成威脅,而且對(duì)國(guó)家的政治、經(jīng)濟(jì)和社會(huì)發(fā)展造成巨大影響,嚴(yán)重影響區(qū)域穩(wěn)定與發(fā)展,給社會(huì)造成無(wú)法估量的后果。在這種形勢(shì)下,反恐機(jī)器人應(yīng)運(yùn)而生,反恐機(jī)器人可以安全的實(shí)現(xiàn)危險(xiǎn)物的轉(zhuǎn)移、爆破以及打擊恐怖活動(dòng)等,從而減少人員傷亡和財(cái)產(chǎn)損失,可以廣泛應(yīng)用于軍事、消防、公共安全等場(chǎng)合。本課題研究的目標(biāo)是設(shè)計(jì)一款輪履復(fù)合式的反恐排爆機(jī)器人,機(jī)器人行走機(jī)構(gòu)采用輪式和履帶式相結(jié)合的方式,在平地上采用輪式機(jī)構(gòu)行走,在越障及攀爬樓梯時(shí)采用輪履復(fù)合式機(jī)構(gòu)行走。將兩種行走機(jī)構(gòu)的優(yōu)點(diǎn)結(jié)合起來(lái),既能使機(jī)器人在平地上行走速度快、操縱靈活,又能適應(yīng)各種復(fù)雜的地面環(huán)境。首先,分析國(guó)內(nèi)外反恐機(jī)器人研究發(fā)展現(xiàn)狀,了解各種機(jī)器人工作環(huán)境以及能夠?qū)崿F(xiàn)的任務(wù),并對(duì)輪式移動(dòng)平臺(tái)和履帶式移動(dòng)平臺(tái)做了詳細(xì)分析。針對(duì)輪式機(jī)構(gòu)在平坦地面上運(yùn)動(dòng)性能突出,履帶式機(jī)構(gòu)在復(fù)雜地面運(yùn)動(dòng)具有優(yōu)越性等特點(diǎn),將兩種機(jī)構(gòu)巧妙的結(jié)合起來(lái),在運(yùn)動(dòng)過(guò)程中輪式和履帶式機(jī)構(gòu)交替使用,從而設(shè)計(jì)出一種新型輪履復(fù)合式機(jī)構(gòu)方案。接下來(lái)進(jìn)行輪履復(fù)合式機(jī)器人移動(dòng)平臺(tái)結(jié)構(gòu)設(shè)計(jì),建立零件三維模型確定各零部件詳細(xì)尺寸參數(shù),并對(duì)關(guān)鍵零部件進(jìn)行有限元分析確保其可靠性。進(jìn)一步對(duì)機(jī)器人移動(dòng)平臺(tái)的運(yùn)動(dòng)學(xué)進(jìn)行理論分析,為樣機(jī)研制及實(shí)驗(yàn)提供基礎(chǔ)。然后完成機(jī)器人虛擬樣機(jī)裝配并進(jìn)行機(jī)構(gòu)動(dòng)力學(xué)仿真研究,利用PROE軟件建立機(jī)器人簡(jiǎn)化模型,導(dǎo)入ADAMS軟件,在ADAMS中創(chuàng)建虛擬樣機(jī)模型,進(jìn)而對(duì)機(jī)器人的爬坡、越障、攀爬樓梯等運(yùn)動(dòng)進(jìn)行仿真分析,得出機(jī)器人相應(yīng)運(yùn)動(dòng)部件動(dòng)力學(xué)仿真曲線。最后,完成機(jī)器人各部分零部件加工和樣機(jī)裝配,樣機(jī)裝配完成后進(jìn)行機(jī)器人實(shí)驗(yàn),主要對(duì)其在不同環(huán)境下的運(yùn)行狀態(tài)進(jìn)行實(shí)驗(yàn)驗(yàn)證,監(jiān)測(cè)運(yùn)動(dòng)性能,并對(duì)理論預(yù)期結(jié)果與實(shí)驗(yàn)結(jié)果進(jìn)行對(duì)比研究,進(jìn)而對(duì)模型進(jìn)行校對(duì)與修正。
[Abstract]:At present, ethnic division and religious extremist activities are frequent at home and abroad, and the realistic possibility of our country being attacked by terrorism is increasing. Terrorist activities not only pose a threat to the lives and property of the people, but also have a great impact on the political, economic and social development of the country, seriously affecting regional stability and development, and causing immeasurable consequences to the society. In this situation, counter-terrorism robots emerge as the times require. Counter-terrorism robots can safely transfer dangerous materials, blow up and combat terrorist activities, so as to reduce casualties and property losses, and can be widely used in military and fire fighting. Public safety, etc. The goal of this research is to design a composite anti-terrorist explosive robot with wheels and tracks. The robot walking mechanism adopts wheel-type and crawler-type combination, and uses wheel-type mechanism to walk on the flat ground. When crossing the barrier and climbing the stairs, use the wheel-track compound mechanism to walk. Combining the advantages of the two kinds of walking mechanism, the robot can not only make the robot walk fast on the flat ground, but also adapt to all kinds of complicated ground environment. Firstly, the research and development status of counter-terrorism robot at home and abroad is analyzed, and the working environment of various robots and the tasks that can be realized are understood, and the wheeled mobile platform and crawler mobile platform are analyzed in detail. In view of the outstanding motion performance of wheel mechanism on flat ground and the superiority of crawler mechanism in complex ground movement, the two mechanisms are skillfully combined and used alternately between wheel type and track mechanism in the course of movement. Thus a new type of wheel-track composite mechanism scheme is designed. Then, the structure design of the mobile platform of the wheel-track composite robot is carried out, the 3D model of the parts is established to determine the detailed dimension parameters of the parts, and the finite element analysis is carried out to ensure the reliability of the key parts. Furthermore, the kinematics of the robot mobile platform is analyzed theoretically, which provides the basis for the development and experiment of the prototype. Then the virtual prototype of the robot is assembled and the mechanism dynamics simulation is carried out. The simplified model of the robot is established by using the PROE software, the ADAMS software is imported, and the virtual prototype model is created in the ADAMS, and then the climbing of the robot is overcome, and the obstacle is overcome. The dynamic simulation curves of the corresponding moving parts of the robot are obtained by simulation and analysis of climbing stairs and so on. Finally, the parts and components of the robot are processed and the prototype assembly is completed. After the assembly of the prototype, the robot experiment is carried out, which mainly verifies the running state of the robot in different environments, and monitors the motion performance. The theoretical expected results are compared with the experimental results, and then the model is corrected and corrected.
【學(xué)位授予單位】：上海工程技術(shù)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TP242

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本文編號(hào)：2434498