本文選題：并聯(lián)機(jī)構(gòu)　切入點(diǎn)：兩足步行機(jī)構(gòu)　出處：《北京交通大學(xué)》2014年博士論文　論文類型：學(xué)位論文

【摘要】：摘要：本文提出移動(dòng)模式與操作模式集成的多模式移動(dòng)并聯(lián)機(jī)構(gòu)的設(shè)計(jì)理念�；谠撛O(shè)計(jì)理念,以提高機(jī)構(gòu)的承載能力與復(fù)雜地形通過能力為目標(biāo),定義并提煉出四類移動(dòng)模式與兩類操作模式,進(jìn)而形成模式集成方法,構(gòu)建含有U-P-U(萬向鉸-移動(dòng)副-萬向鉸)支鏈與U-R-U(萬向鉸.轉(zhuǎn)動(dòng)副.萬向鉸)支鏈的多模式步滾移動(dòng)兩足并聯(lián)機(jī)構(gòu),并作為典型構(gòu)型進(jìn)行系統(tǒng)性研究,包括：理論分析、仿真分析、樣機(jī)研制與實(shí)驗(yàn)研究。 首先將4U平行四邊形機(jī)構(gòu)、6U機(jī)構(gòu)、3-UPU并聯(lián)機(jī)構(gòu)作為研究基礎(chǔ)；然后提出多模式步滾移動(dòng)兩足4-UPU并聯(lián)機(jī)構(gòu),并作為核心研究；最后以具體應(yīng)用為導(dǎo)向提出兩足步行2-UPU+2-UU并聯(lián)機(jī)構(gòu)；以拓展操作模式與移動(dòng)模式為目的提出多模式步滾移動(dòng)兩足4-URU并聯(lián)機(jī)構(gòu)。主要研究內(nèi)容包括： (1)針對(duì)三種兩足步行4U平行四邊形機(jī)構(gòu)進(jìn)行比較分析,總結(jié)由運(yùn)動(dòng)副配置方法不同帶來的構(gòu)型之間的區(qū)別與聯(lián)系,進(jìn)而拓展提出一種兩足步行4U平行四邊形構(gòu)型。針對(duì)提出的滾動(dòng)6U并聯(lián)機(jī)構(gòu)進(jìn)行滾動(dòng)原理分析,采用不同運(yùn)動(dòng)副配置方案得到兩種滾動(dòng)6U并聯(lián)機(jī)構(gòu)的拓展構(gòu)型。進(jìn)一步采用不同運(yùn)動(dòng)鏈的配置方案,提出多模式滾動(dòng)3-UPU并聯(lián)機(jī)構(gòu)。結(jié)合自由度與奇異位置分析,研究四種滾動(dòng)模式具體實(shí)現(xiàn)方式與切換方案,并討論由支鏈變化帶來的步長變化對(duì)滾動(dòng)能力的影響。 (2)集成移動(dòng)與操作兩種功能模式提出多模式步滾移動(dòng)兩足4-UPU并聯(lián)機(jī)構(gòu),并分別研究了三類移動(dòng)模式與兩類操作模式。在移動(dòng)模式中討論驅(qū)動(dòng)方案、模式切換、轉(zhuǎn)向操作、步態(tài)特點(diǎn)等方面。在操作模式中分析姿態(tài)調(diào)整、重心調(diào)整、與地面的貼合等固定式操作模式；同時(shí)研究了整體協(xié)同式操作模式對(duì)移動(dòng)模式的輔助功能,如：側(cè)翻自救功能與傾覆復(fù)位功能。此外,結(jié)合機(jī)構(gòu)特性討論步長與速度之間的關(guān)系,并針對(duì)典型障礙,分析了機(jī)構(gòu)的越障性能。 (3)以承載運(yùn)輸為主要用途,綜合考慮并聯(lián)機(jī)構(gòu)的高剛度和承載能力,以及機(jī)構(gòu)對(duì)崎嶇路面適應(yīng)能力的要求,提出具有承載能力的兩足步行2-UPU+2-UU并聯(lián)機(jī)構(gòu)。結(jié)合機(jī)構(gòu)的運(yùn)動(dòng)特性與兩足的承載空間要求,確定兩足結(jié)構(gòu)設(shè)計(jì)參數(shù)之間的函數(shù)關(guān)系式。研究采用類似爬行步態(tài)條件下驅(qū)動(dòng)力與結(jié)構(gòu)參數(shù)的關(guān)系,并進(jìn)一步分析得出該機(jī)構(gòu)類似爬行的步態(tài)比采用常規(guī)步行的步態(tài)對(duì)驅(qū)動(dòng)力的要求顯著降低。 (4)根據(jù)多模式步滾移動(dòng)兩足4-UPU并聯(lián)機(jī)構(gòu)的構(gòu)型特點(diǎn),總結(jié)構(gòu)型設(shè)計(jì)需要滿足的條件,采用不同支鏈類型構(gòu)造該類機(jī)構(gòu),并嘗試進(jìn)一步拓展操作模式與移動(dòng)模式功能。以多模式步滾移動(dòng)兩足4-URU并聯(lián)機(jī)構(gòu)為例,分析其具有的四足跳躍模式與剪叉升降平臺(tái)操作模式。 綜合而言,基于提出移動(dòng)模式與操作模式集成的多模式移動(dòng)并聯(lián)機(jī)構(gòu)的設(shè)計(jì)理念,進(jìn)行了系統(tǒng)性研究,為具有較大承載能力與較高復(fù)雜地形通過能力的移動(dòng)機(jī)器人設(shè)計(jì)提供一類新的技術(shù)途徑。
[Abstract]:Abstract: This paper puts forward the design idea of mobile mode and operation mode of integrated multi mode mobile parallel mechanism. Based on the design concept, to improve the bearing capacity mechanism and complex terrain by ability as the goal, to define and extract four types of mobile mode and the two mode of operation, and the formation of model integration method to construct U-P-U (universal hinge moving pair of universal joint) and U-R-U (universal hinge chain. Rotation pair. Universal joint) MULTI BRANCHED rolling mode step mobile biped parallel mechanism, and as a typical configuration of system, including: theoretical analysis, simulation analysis, experiment study and development of the prototype.
The first 4U parallelogram mechanism, 6U mechanism, 3-UPU parallel mechanism as the research foundation; and then put forward the multi step rolling mode mobile biped 4-UPU parallel mechanism, and as the core research; finally on the specific application oriented of biped walking 2-UPU+2-UU parallel mechanism; to expand the operation mode and mode for the purpose of the mobile multi mode mobile biped rolling step the 4-URU parallel mechanism. The main research contents include:
(1) for the three kinds of biped walking 4U parallelogram mechanism for comparative analysis, summarize the differences and connections between different pairs by bring configuration method of configuration, and then expand a biped walking 4U parallelogram structure. According to the proposed 6U parallel mechanism for rolling rolling principle analysis, using different motion scheme expand the configuration of two kinds of rolling 6U parallel mechanism. The different configurations of the kinematic chain, put forward multi mode rolling 3-UPU parallel mechanism. The combination of freedom and singularity analysis, four kinds of rolling mode realization mode and switching scheme with the body, and discuss the effect of step change brought by the change of rolling ability of the branched chain.
(2) mobile integrated two functions and operation mode put forward multi mode step rolling mobile 4-UPU parallel mechanism and two, respectively for three kinds of mobile mode and the two mode of operation. To discuss the driving scheme in mobile mode, mode switching, steering operation, gait characteristics etc. in the operation of the attitude adjustment, mode the focus of the adjustment and the ground stationary operation mode; at the same time on the overall coordination of auxiliary functions, the mobile mode operation mode such as: rollover self-help function and the function of reset overturned. In addition, combined with the characteristic of mechanism to discuss the relationship between step size and speed, and for the typical obstacle, obstacle performance mechanism was analysis.
(3) to transport as the main purpose, considering the parallel mechanism with high rigidity and bearing capacity, and the ability to adapt to the requirements of the rugged road, put forward with the carrying capacity of the biped walking 2-UPU+2-UU parallel mechanism. Combined with the motion characteristics of the bearing and biped mechanism space requirements, determine the function relationship between the biped structure design study on the relationship between the parameters and structure parameters. Under the condition of similar crawl gait driving force, and further analyzed the mechanism similar to crawl gait than conventional walking gait of the driving force is significantly reduced.
(4) according to the structure characteristics of multi step rolling mode mobile biped 4-UPU parallel mechanism, summarizes the design needs to meet the conditions, using different types of branched chain structure of this kind of mechanism, and try to further expand the operation mode and mobile mode. In multi-mode mobile step roll 4-URU parallel mechanism biped as an example, the paper analyzed its quadruped jumping fork lifting platform mode and operation mode.
In general, based on the design concept of mobile multi-mode mobile parallel mechanism which integrates mobile mode and operation mode, a systematic research is carried out, which provides a new technology way for mobile robot design with large carrying capacity and high complex terrain.

【學(xué)位授予單位】：北京交通大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類號(hào)】：TH112

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