本文選題：煤礦井下搜救探測機器人 + 輪履切換��； 參考：《太原理工大學(xué)》2013年碩士論文

【摘要】：我國是一個煤炭產(chǎn)銷大國,而且存在大量的小型煤礦,瓦斯爆炸、火災(zāi)、透水、頂板冒落等事故頻繁發(fā)生。中國的煤炭產(chǎn)量約占全球的35%,事故死亡人數(shù)則占近80%,因此礦難發(fā)生后的搜救工作至關(guān)重要。但由于事故發(fā)生后井下環(huán)境存在不確定和危險因素,救援人員盲目下井救援可能發(fā)生二次災(zāi)難。如何迅速、準確地獲得井下環(huán)境狀況,并以此為依據(jù)制定有效的救援方案尤為重要,迫切需要一種能夠適應(yīng)復(fù)雜環(huán)境的煤礦搜救探測機器人。 通過分析國內(nèi)外搜救探測機器人結(jié)構(gòu)特點,并考慮到礦難后搜救的緊迫性,本文提出了一種輪履復(fù)合運動的煤礦井下搜救探測機器人。利用平行四邊形連桿機構(gòu)平動特點設(shè)計車輪升降機構(gòu),實現(xiàn)了履帶式運動和輪式運動模式的切換,使機器人能夠根據(jù)礦井下環(huán)境狀況自動選擇運動模式,迅速完成探測和搜救任務(wù)。本文從結(jié)構(gòu)設(shè)計、動力學(xué)分析、運動仿真、有限元分析和控制系統(tǒng)等方面展開了研究。 分析各種搜救探測機器人結(jié)構(gòu),并在履帶機器人的基礎(chǔ)上設(shè)計了輪履復(fù)合運動的搜救探測機器人,并對機器人關(guān)鍵結(jié)構(gòu)和部件進行了分析和設(shè)計。運用三維設(shè)計軟件UG對機器人進行虛擬樣機的建模,并進行了整機模型的裝配工作。 根據(jù)機器人運動狀態(tài)的不同,從履帶運動、輪履切換運動和輪式運動三種模式進行了數(shù)學(xué)建模和分析,推出機器人水平運動的動力學(xué)模型。建立虛擬樣機模型,并對機器人履帶運動到輪式運動整個過程進行運動學(xué)和動力學(xué)仿真分析。利用ANSYS軟件對輪履切換過程中關(guān)鍵部件進行了靜力學(xué)分析,檢驗轉(zhuǎn)軸及車輪升降擺臂的強度、剛度及材料選擇的合理性。運動學(xué)和動力學(xué)分析和仿真,為進一步優(yōu)化機器人結(jié)構(gòu)設(shè)計提供了依據(jù)。 研究了模型參考自適應(yīng)控制算法在煤礦井下探測機器人TUT-CMDR上的應(yīng)用,建立了電機傳動系統(tǒng)的簡化數(shù)學(xué)模型,運用超穩(wěn)定性理論設(shè)計自適應(yīng)速度控制器,在Simulink環(huán)境下建立模型并進行仿真分析,驗證了算法的有效性。
[Abstract]:China is a large country of coal production and marketing, and there are a large number of small coal mines, gas explosion, fire, water permeability, roof caving and other accidents occur frequently.China accounts for about 35 percent of the world's coal production and nearly 80 deaths from accidents, so the search and rescue effort after the disaster is crucial.However, due to the uncertainty and risk factors in the underground environment after the accident, rescue workers blindly go down the well and rescue may occur two disasters.It is very important to obtain the underground environment condition quickly and accurately, and make an effective rescue plan based on it. It is urgent to need a kind of coal mine search and rescue robot which can adapt to the complex environment.By analyzing the structural characteristics of the search and rescue robot at home and abroad and considering the urgency of the search and rescue after the mine accident, this paper presents a kind of underground search and rescue robot in coal mine.The parallel quadrilateral linkage mechanism is used to design the wheel lifting mechanism, which realizes the switch between crawler motion and wheel motion mode. The robot can automatically select the motion mode according to the environment under the mine.Rapid completion of detection and search and rescue missions.In this paper, structural design, dynamic analysis, motion simulation, finite element analysis and control system are studied.This paper analyzes the structures of various search and rescue robots, and designs a search and rescue robot with wheel-shoe composite motion based on the crawler robot, and analyzes and designs the key structures and components of the robot.The 3D design software UG is used to model the virtual prototype of the robot, and the assembly of the whole machine model is carried out.According to the different motion states of the robot, the dynamic model of the horizontal motion of the robot is derived from the three models of tracked motion, wheel-toggle movement and wheel-type motion.The virtual prototype model is established and the kinematics and dynamics simulation of the whole process from crawler motion to wheel motion is carried out.The statics analysis of the key components in the process of wheel shoe switching is carried out by using ANSYS software, and the strength, stiffness and the rationality of material selection of the swing arm of rotary shaft and wheel are tested.Kinematics and dynamics analysis and simulation provide basis for further optimization of robot structure design.The application of model reference adaptive control algorithm in TUT-CMDR of underground detection robot is studied. The simplified mathematical model of motor transmission system is established, and the adaptive speed controller is designed by using superstability theory.The effectiveness of the algorithm is verified by modeling and simulation analysis in Simulink environment.
【學(xué)位授予單位】：太原理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2013
【分類號】：TP242;TD77

【參考文獻】

相關(guān)期刊論文 前10條

1 潘艷艷;曹華;陶彩霞;;直流電機雙閉環(huán)調(diào)速系統(tǒng)的動態(tài)模型仿真[J];重慶工學(xué)院學(xué)報(自然科學(xué)版);2009年08期

2 孫德;樂貴高;;基于DSP的交流前饋位置伺服系統(tǒng)的設(shè)計[J];四川兵工學(xué)報;2011年09期

3 梁靄明;馬平;陳愛民;龔政;;永磁直流直線電機的雙閉環(huán)調(diào)速系統(tǒng)的設(shè)計與研究[J];機床與液壓;2010年03期

4 劉金國;王越超;李斌;馬書根;;災(zāi)難救援機器人研究現(xiàn)狀、關(guān)鍵性能及展望[J];機械工程學(xué)報;2006年12期

5 黃建龍;閆磊;張為科;;基于ANSYS升降臺低速軸有限元分析[J];科學(xué)技術(shù)與工程;2010年36期

6 (彳佘)國凱,吳士昌;兩種自適應(yīng)調(diào)速系統(tǒng)的實驗研究[J];控制理論與應(yīng)用;1990年02期

7 徐國凱;游林儒;趙秀春;宋鵬;劉長宏;;4M龍門刨床自適應(yīng)速度控制器研究[J];控制理論與應(yīng)用;2007年05期

8 徐剛;牛志剛;;輪履復(fù)合式煤礦井下環(huán)境探測機器人的結(jié)構(gòu)設(shè)計及運動特性分析[J];煤礦機械;2011年03期

9 陳曉峰;;枸杞烘干窯溫濕度模型參考自適應(yīng)控制器設(shè)計[J];農(nóng)機化研究;2010年12期

10 李;;日本推出升級版營救機器人[J];機器人技術(shù)與應(yīng)用;2009年04期

，

本文編號：1749807