本文選題：空間連桿機構　切入點：移動機器人　出處：《北京交通大學》2011年碩士論文　論文類型：學位論文

【摘要】：隨著人類對地面和空間環(huán)境探測進程的不斷深入,設計新型高性能探測移動機器人成為各國研究的前沿問題。常規(guī)移動機器人主要包括輪式、腿式、履帶式等,但由于自身結構的特點,在探測環(huán)境中具有各自的局限性。目前空間探測機器人主要采用輪式移動方式,機器人在翻覆后的復位功能欠佳。本文的研究目的在于,通過研究幾何多面體,設計出轉動副驅動的多面體式移動機構。 首先,基于空間幾何多面體的設計思路,研究了雙三角錐移動機構的運動特性和實現(xiàn)條件。采用轉動副驅動,實現(xiàn)的技術難度低,變形姿態(tài)和運動方式多樣；且可以進行擴展和組合,形成更為復雜和多樣的機構群組。此外,空間探測器的存儲空間有限,該類機構具有較好的對稱性和體積縮放性能,在運輸過程中可以節(jié)省空間。針對其移動路徑,提出了一種控制的方法。進行了軟件仿真,并制作了樣機,驗證了機構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構,其由三組平面連桿機構組成,建立起了一種從平面機構到空間機構的過渡方式。三棱柱機構可以通過調節(jié)各組平面機構的形狀來實現(xiàn)機構的移動和轉向功能。 最后,對四面體移動機構的構型進行了分析和設計,對全R副16桿機構的運動步態(tài)進行了研究和運動仿真,驗證了運動功能。對R副和U副混合的四面體機構進行運動特性分析,發(fā)現(xiàn)由URU支鏈組成的機構具有較好的運動性能。分析了四面體機構較為通用的移動步態(tài)。對URU支鏈的四面體機構進行了結構設計。 本文工作為多面體類移動機構的后續(xù)研究和發(fā)展提供了理論和設計基礎。
[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.
【學位授予單位】：北京交通大學
【學位級別】：碩士
【學位授予年份】：2011
【分類號】：TH112.1

【引證文獻】

相關碩士學位論文 前1條

1 秦俊杰;基于URU鏈的四面體移動機構理論與實驗研究[D];北京交通大學;2012年

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本文編號：1598396