本文選題：運(yùn)動(dòng)鏈 + 連桿機(jī)構(gòu)　； 參考：《北京交通大學(xué)》2011年碩士論文

【摘要】：本文在研究機(jī)構(gòu)學(xué)、機(jī)器人學(xué)的理論與技術(shù)的基礎(chǔ)上,分析運(yùn)動(dòng)鏈的運(yùn)動(dòng)特點(diǎn),拓展傳統(tǒng)連桿機(jī)構(gòu)的應(yīng)用領(lǐng)域,結(jié)合現(xiàn)代移動(dòng)機(jī)器人的功能需求,將平面和空間連桿機(jī)構(gòu)用作移動(dòng)機(jī)器人的機(jī)構(gòu)本體,設(shè)計(jì)整體閉鏈的平面與空間移動(dòng)機(jī)構(gòu),分析其運(yùn)動(dòng)性能。 首先,通過(guò)歸納某特定種類移動(dòng)機(jī)構(gòu)的結(jié)構(gòu)特點(diǎn),提出一種獲得具有滾動(dòng)性能的平面運(yùn)動(dòng)鏈的方法；并采用這種方法提出二十多種可能具有滾動(dòng)性能的平面運(yùn)動(dòng)鏈；針對(duì)這些運(yùn)動(dòng)鏈設(shè)計(jì)了三種平面移動(dòng)機(jī)構(gòu)；對(duì)其進(jìn)行機(jī)構(gòu)運(yùn)動(dòng)原理分析,步態(tài)規(guī)劃,并通過(guò)ADMAS運(yùn)動(dòng)仿真驗(yàn)證其運(yùn)動(dòng)原理。 其次,提出一種形成空間多閉環(huán)移動(dòng)連桿機(jī)構(gòu)的方法,即平面運(yùn)動(dòng)鏈正交組合方法,采用該方法共設(shè)計(jì)了三種空間移動(dòng)機(jī)構(gòu)；提出了另一種形成空間多閉環(huán)移動(dòng)連桿機(jī)構(gòu)的方法,即平面運(yùn)動(dòng)鏈三維組合方法,采用該方法共設(shè)計(jì)了四種空間多面體移動(dòng)機(jī)構(gòu),并對(duì)該類機(jī)構(gòu)的設(shè)計(jì)提供了拓展的方法與總結(jié)。 再次,提出了內(nèi)驅(qū)動(dòng)機(jī)構(gòu)的概念,并運(yùn)用本文中提出的三種可翻滾平面運(yùn)動(dòng)鏈成功設(shè)計(jì)了兩種雙搖桿驅(qū)動(dòng)機(jī)構(gòu)和一種曲柄搖桿驅(qū)動(dòng)機(jī)構(gòu),同時(shí)運(yùn)用平面運(yùn)動(dòng)鏈正交組合的方法設(shè)計(jì)了一種空間8U驅(qū)動(dòng)移動(dòng)機(jī)構(gòu)。 最后,通過(guò)對(duì)平面和空間連桿機(jī)構(gòu)中桿件結(jié)構(gòu)作分析,分別對(duì)平面連桿機(jī)構(gòu)和空間連桿機(jī)構(gòu)做模塊化設(shè)計(jì),并加入驅(qū)動(dòng)模塊實(shí)現(xiàn)移動(dòng)機(jī)構(gòu)的模塊化設(shè)計(jì)。運(yùn)用本文設(shè)計(jì)的連桿模塊組裝本文提出的移動(dòng)機(jī)構(gòu),驗(yàn)證設(shè)計(jì)原理。 本文將為開發(fā)創(chuàng)新型移動(dòng)機(jī)構(gòu)提供了一種新的設(shè)計(jì)方法和相關(guān)理論基礎(chǔ),同時(shí)為平面和空間連桿移動(dòng)機(jī)構(gòu)模塊化提供了方案實(shí)例和技術(shù)借鑒。
[Abstract]:On the basis of studying the theory and technology of mechanism and robotics, this paper analyzes the kinematic characteristics of the kinematic chain, expands the application field of the traditional linkage mechanism, and combines the functional requirements of the modern mobile robot. The planar and spatial linkage mechanism is used as the mechanism body of the mobile robot. The planar and spatial moving mechanism of the whole closed chain is designed and its motion performance is analyzed. Firstly, by summarizing the structural characteristics of a certain kind of moving mechanism, a method of obtaining planar kinematic chains with rolling performance is proposed, and more than 20 kinds of planar kinematic chains with rolling performance are proposed by using this method. Three kinds of planar moving mechanisms are designed for these kinematic chains, and their kinematic principle is analyzed, gait planning is carried out, and their motion principle is verified by ADMAS motion simulation. Secondly, a method of forming spatial multi-closed-loop moving linkage mechanism, namely the orthogonal combination method of planar kinematic chain, is proposed, and three kinds of spatial moving mechanism are designed by using this method. In this paper, another method of forming spatial multi-closed loop moving linkage mechanism, namely three-dimensional combination method of planar kinematic chain, is proposed. Four kinds of spatial polyhedron moving mechanism are designed by using this method. It also provides the method and summary for the design of this kind of mechanism. Thirdly, the concept of internal driving mechanism is put forward, and two kinds of double rocker driving mechanism and one kind of crank rocker driving mechanism are successfully designed by using the three rolling planar kinematic chains proposed in this paper. At the same time, a spatial 8 U driving moving mechanism is designed by using the method of orthogonal combination of planar kinematic chains. Finally, the modular design of the planar linkage mechanism and the spatial linkage mechanism is made by analyzing the structure of the bar in the planar and spatial linkage mechanism, and the modular design of the moving mechanism is realized by adding the driving module. Using the connecting rod module designed in this paper to assemble the mobile mechanism proposed in this paper and verify the design principle. This paper will provide a new design method and related theoretical basis for the development of innovative mobile mechanism. At the same time, it will provide a scheme example and technical reference for the modularization of planar and spatial linkage mobile mechanism.
【學(xué)位授予單位】：北京交通大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TH112.1

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本文編號(hào)：1812546