本文選題：空間連桿機(jī)構(gòu)　切入點(diǎn)：移動機(jī)器人　出處：《北京交通大學(xué)》2011年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著人類對地面和空間環(huán)境探測進(jìn)程的不斷深入,設(shè)計(jì)新型高性能探測移動機(jī)器人成為各國研究的前沿問題。常規(guī)移動機(jī)器人主要包括輪式、腿式、履帶式等,但由于自身結(jié)構(gòu)的特點(diǎn),在探測環(huán)境中具有各自的局限性。目前空間探測機(jī)器人主要采用輪式移動方式,機(jī)器人在翻覆后的復(fù)位功能欠佳。本文的研究目的在于,通過研究幾何多面體,設(shè)計(jì)出轉(zhuǎn)動副驅(qū)動的多面體式移動機(jī)構(gòu)。 首先,基于空間幾何多面體的設(shè)計(jì)思路,研究了雙三角錐移動機(jī)構(gòu)的運(yùn)動特性和實(shí)現(xiàn)條件。采用轉(zhuǎn)動副驅(qū)動,實(shí)現(xiàn)的技術(shù)難度低,變形姿態(tài)和運(yùn)動方式多樣；且可以進(jìn)行擴(kuò)展和組合,形成更為復(fù)雜和多樣的機(jī)構(gòu)群組。此外,空間探測器的存儲空間有限,該類機(jī)構(gòu)具有較好的對稱性和體積縮放性能,在運(yùn)輸過程中可以節(jié)省空間。針對其移動路徑,提出了一種控制的方法。進(jìn)行了軟件仿真,并制作了樣機(jī),驗(yàn)證了機(jī)構(gòu)移動和控制方法的可行性。 其次,提出了一種三棱柱式移動機(jī)構(gòu),其由三組平面連桿機(jī)構(gòu)組成,建立起了一種從平面機(jī)構(gòu)到空間機(jī)構(gòu)的過渡方式。三棱柱機(jī)構(gòu)可以通過調(diào)節(jié)各組平面機(jī)構(gòu)的形狀來實(shí)現(xiàn)機(jī)構(gòu)的移動和轉(zhuǎn)向功能。 最后,對四面體移動機(jī)構(gòu)的構(gòu)型進(jìn)行了分析和設(shè)計(jì),對全R副16桿機(jī)構(gòu)的運(yùn)動步態(tài)進(jìn)行了研究和運(yùn)動仿真,驗(yàn)證了運(yùn)動功能。對R副和U副混合的四面體機(jī)構(gòu)進(jìn)行運(yùn)動特性分析,發(fā)現(xiàn)由URU支鏈組成的機(jī)構(gòu)具有較好的運(yùn)動性能。分析了四面體機(jī)構(gòu)較為通用的移動步態(tài)。對URU支鏈的四面體機(jī)構(gòu)進(jìn)行了結(jié)構(gòu)設(shè)計(jì)。 本文工作為多面體類移動機(jī)構(gòu)的后續(xù)研究和發(fā)展提供了理論和設(shè)計(jì)基礎(chǔ)。
[Abstract]:With the continuous development of human exploration on the ground and space environment, the design of new high-performance mobile robot has become a frontier problem in many countries. The conventional mobile robot mainly includes wheeled, legged, crawler and so on. However, due to the characteristics of its own structure, it has its own limitations in the detection environment. At present, the space detection robot mainly adopts wheeled mobile mode, and the reset function of the robot after capsizing is not good. By studying geometric polyhedron, a polyhedron moving mechanism driven by rotating pair is designed. Firstly, based on the design idea of spatial geometry polyhedron, the motion characteristics and realization conditions of double triangular cone moving mechanism are studied. In addition, the space detector has limited storage space, and this kind of mechanism has better symmetry and volume scaling performance. In the process of transportation, the space can be saved. A control method is proposed for its moving path. The software simulation is carried out, and the prototype is made to verify the feasibility of the mechanism movement and control method. Secondly, a three-prism moving mechanism is proposed, which is composed of three groups of planar linkage mechanisms. A transition mode from plane mechanism to space mechanism is established. The three-prism mechanism can realize the function of moving and steering by adjusting the shape of each set of planar mechanisms. Finally, the configuration of the tetrahedron moving mechanism is analyzed and designed, and the motion gait of the all-R pair 16-bar mechanism is studied and simulated. The motion function is verified. The motion characteristics of the tetrahedron mechanism mixed with R pair and U pair are analyzed. It is found that the mechanism composed of URU branch chain has better kinematic performance. The general moving gait of tetrahedron mechanism is analyzed. The structure of tetrahedron mechanism of URU branch chain is designed. The work in this paper provides a theoretical and design basis for the further research and development of polyhedron mobile mechanism.
【學(xué)位授予單位】：北京交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2011
【分類號】：TH112.1

【引證文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前1條

1 秦俊杰;基于URU鏈的四面體移動機(jī)構(gòu)理論與實(shí)驗(yàn)研究[D];北京交通大學(xué);2012年

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本文編號：1598396