【摘要】：與眾多其它種類的移動車輛相比,步行車輛向來以其機動性、地形適應能力見長,但現(xiàn)有步行機器人由于腿機構自由度較多導致控制系統(tǒng)復雜,在復雜地形的可靠性及負載能力受到限制,而單自由度的腿機構的控制系統(tǒng)簡單,運行的可靠性及抗干擾能力較強,通過提高唯一的驅動電機功率來提高負載能力則相對較易實現(xiàn),而且通過桿長優(yōu)化即可提高越障能力 本文通過對國內外單自由度腿機構的研究,利用顏氏機構創(chuàng)造性設計法對現(xiàn)有的八桿及六桿腿機構進行了構型分析研究,得到十余種新型單自由度腿機構,對其中一組足端軌跡較優(yōu)的腿機構進行了分析及優(yōu)化。 本文提出一種雙四足差動步行車輛,其腿機構采用較成熟的一種八桿十副方案,整車自由度為2,用兩臺驅動電機即可實現(xiàn)行走及轉向,并討論了其整體布置方案及相應的車輛性能,提出了各種方案都通用的一般性分析方法。在關于腿式差速轉向的假設的前提下對車輛的差速轉向進行了運動學分析,并通過仿真分析驗證了分析模型的正確性,為差速轉向的控制策略的制定提供了依據(jù)。 通過對車輛的動力學仿真分析,發(fā)現(xiàn)驅動電機的扭矩沖擊現(xiàn)象,通過配置彈簧緩沖器及優(yōu)選足端軌跡的方法對扭矩沖擊的改善起到了一定的作用,并總結出彈簧配置的通用方法及評估指標,利用此方法分別對八桿十副方案及六桿七副方案分別進行了分析。 本文還從方案的工程性角度進行了平面腿機構擴展為三維實體的層次排列設計,進行了零部件的結構設計,關鍵零部件的強度校核,驗證了各個零件初始設計均滿足強度要求,并對某些強度過剩零件進行了結構優(yōu)化,對樣機進行了加工裝配,初步實驗,并對其后續(xù)實驗提出了幾種實驗方案。
[Abstract]:Compared with many other kinds of mobile vehicles, walking vehicles are always characterized by their maneuverability and terrain adaptability. However, the existing walking robots have complex control systems due to the greater degree of freedom of the legs. In complex terrain, the reliability and load capacity are limited, and the control system of the single degree of freedom leg mechanism is simple, the reliability of operation and anti-interference ability is strong. It is relatively easy to improve the load capacity by increasing the power of the only driving motor, and the obstacle surmounting ability can be improved by optimizing the length of the rod. In this paper, the research on the single degree of freedom leg mechanism at home and abroad is carried out. By using the creative design method of Yan's mechanism, the configuration of the existing eight-bar and six-bar leg mechanisms is analyzed and studied. More than ten kinds of new single-degree-of-freedom leg mechanisms are obtained, and one group of leg mechanisms with better foot trajectory is analyzed and optimized. In this paper, a double quadruped differential walking vehicle is proposed. Its leg mechanism adopts a more mature scheme of eight rods and ten pairs, and the degree of freedom of the whole vehicle is 2. With two driving motors, the walking and steering can be realized. The overall layout scheme and the corresponding vehicle performance are discussed, and a general analysis method for all kinds of schemes is put forward. Based on the hypothesis of leg differential steering, the kinematics analysis of differential steering is carried out, and the correctness of the analysis model is verified by simulation analysis, which provides a basis for the formulation of differential steering control strategy. Through the dynamic simulation analysis of the vehicle, it is found that the torque impact phenomenon of the driving motor is found, and the method of installing the spring buffer and selecting the trajectory of the foot end plays a certain role in improving the torque impact. The general method and evaluation index of spring collocation are summarized, and the eight bar ten and six bar seven pair schemes are analyzed respectively by using this method. In this paper, from the view of the project engineering, the plane leg mechanism is extended to three dimensional solid hierarchical arrangement design, the structural design of the components is carried out, the strength of the key parts is checked, and it is verified that the initial design of each part meets the strength requirements. The structure of some parts with excess strength is optimized, the prototype is processed and assembled, the preliminary experiment is carried out, and several experimental schemes are put forward for the subsequent experiments.
【學位授予單位】：北京交通大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TH112.1

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