【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(dòng)機(jī)器人成為各國研究的前沿問題。常規(guī)移動(dòng)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(dòng)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,通過對幾何四面體的研究,設(shè)計(jì)出基于URU鏈的可變形四面體連桿移動(dòng)機(jī)構(gòu)。 首先對URU鏈的構(gòu)型進(jìn)行了探討,分析了R副軸線與U副軸線平行與正交兩種情形提供的運(yùn)動(dòng)約束；對基于兩種URU鏈的四面體構(gòu)型進(jìn)行了對比分析,包括虎克鉸的初始安裝角度、構(gòu)型的自由度分析、機(jī)構(gòu)的運(yùn)動(dòng)模式,確定了研究對象；為驗(yàn)證所提構(gòu)型的可行性,分析了機(jī)構(gòu)的運(yùn)動(dòng)原理,從運(yùn)動(dòng)學(xué)角度對機(jī)構(gòu)進(jìn)行了理論計(jì)算。 然后對該移動(dòng)機(jī)構(gòu)進(jìn)行虛擬樣機(jī)建模,進(jìn)行了運(yùn)動(dòng)學(xué)與動(dòng)力學(xué)仿真分析,仿真結(jié)果與理論分析相符合,證明了理論分析的正確性。 最后,根據(jù)該機(jī)構(gòu)的特點(diǎn)設(shè)計(jì)了機(jī)構(gòu)的控制方案,對移動(dòng)機(jī)構(gòu)的主要零部件進(jìn)行了選型和設(shè)計(jì)加工,同時(shí)設(shè)計(jì)出了模塊化的URU鏈。制作出樣機(jī),進(jìn)行了試驗(yàn)研究,實(shí)現(xiàn)了預(yù)期的移動(dòng)功能。通過與美國國家航空航天局(NASA)研制的TET-walker星球探測機(jī)器人的對比,對機(jī)構(gòu)的性能進(jìn)行了初步的判定。 本文工作將為多面體類移動(dòng)機(jī)構(gòu)的后續(xù)研究和發(fā)展提供理論和設(shè)計(jì)基礎(chǔ)。
[Abstract]:With the development of human exploration on the ground and space environment, the design of a new high-performance mobile robot has become a frontier problem in many countries. Conventional mobile robots mainly include wheel type, leg type, crawler type and so on, but because of their own structural characteristics, they have their own limitations in the detection environment. At present, the space detection robot mainly adopts the wheeled mobile mode, and the reset function of the robot after capsizing is not good. The purpose of this paper is to design a deformable tetrahedron linkage moving mechanism based on URU chain through the study of geometric tetrahedron. Firstly, the configuration of the URU chain is discussed, and the motion constraints provided by the parallel and orthogonal conditions of the R and U axes are analyzed. The tetrahedron configuration based on two URU chains is compared and analyzed, including the initial installation angle of Hook hinge, the analysis of the degree of freedom of the configuration, the movement mode of the mechanism, and the research object is determined. In order to verify the feasibility of the proposed configuration, the kinematic principle of the mechanism is analyzed, and the mechanism is calculated theoretically from the point of view of kinematics. Then the virtual prototype model of the mobile mechanism is built, and the kinematics and dynamics simulation analysis is carried out. The simulation results are in agreement with the theoretical analysis, which proves the correctness of the theoretical analysis. Finally, according to the characteristics of the mechanism, the control scheme of the mechanism is designed, the main parts of the mobile mechanism are selected and processed, and the modular URU chain is designed. The prototype is made and the experimental research is carried out, and the expected moving function is realized. The performance of the mechanism is preliminarily determined by comparing it with the TET-walker planetary probe robot developed by NASA (NASA). This work will provide 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(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH112.1

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本文編號(hào)：2399426