本文關(guān)鍵詞：小型輪式雙面行駛無(wú)人偵察平臺(tái)設(shè)計(jì)與研究　出處：《南京理工大學(xué)》2017年碩士論文　論文類(lèi)型：學(xué)位論文

  更多相關(guān)文章： 雙面行駛 提升機(jī)構(gòu) 有限元分析 運(yùn)動(dòng)分析 ADAMS仿真 樣機(jī)測(cè)試

【摘要】：在反恐偵察活動(dòng)中,為了減少士兵的傷亡,且又能快速確定目標(biāo)區(qū)里情報(bào),需要設(shè)計(jì)一種移動(dòng)偵察平臺(tái),其大小方便士兵攜帶,具有快速通過(guò)平地的能力,一定的爬坡及攀越障礙的能力,翻車(chē)后能夠繼續(xù)執(zhí)行任務(wù)的能力,一定范圍內(nèi)的視頻圖像實(shí)時(shí)采集與傳輸能力;本文以此為背景,設(shè)計(jì)了小型輪式雙面行駛無(wú)人偵察平臺(tái)。首先,分析國(guó)內(nèi)外軍用反恐機(jī)器人的研究發(fā)展現(xiàn)狀,根據(jù)技術(shù)指標(biāo)要求制定了總體設(shè)計(jì)方案,將行星輪系引入小型輪式雙面行駛無(wú)人偵察平臺(tái)的行走機(jī)構(gòu)設(shè)計(jì)中;提出并設(shè)計(jì)了一種車(chē)身提升機(jī)構(gòu);在設(shè)計(jì)過(guò)程中利用ANSYS Workbench對(duì)關(guān)鍵部件進(jìn)行了有限元分析。對(duì)已完成結(jié)構(gòu)設(shè)計(jì)的無(wú)人偵察平臺(tái)進(jìn)行了運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)建模分析,對(duì)其平面運(yùn)動(dòng)學(xué)建模,并給出了其運(yùn)動(dòng)狀態(tài)方程,對(duì)行星輪系的輪胎滑移約束、地面力學(xué)進(jìn)行了建模分析,對(duì)其側(cè)翻角、最大爬坡角進(jìn)行了分析,對(duì)越障過(guò)程進(jìn)行了分析,對(duì)其進(jìn)行了動(dòng)力學(xué)建模。對(duì)無(wú)人偵察平臺(tái)控制系統(tǒng)與圖像采集傳輸系統(tǒng)進(jìn)行了設(shè)計(jì),首先分析了無(wú)人偵察平臺(tái)的運(yùn)動(dòng)控制原理,然后分析了二維偵察轉(zhuǎn)臺(tái)的舵機(jī)控制方法,接著分析了提升機(jī)構(gòu)的控制方法,最后分析了無(wú)人偵察平臺(tái)翻車(chē)后其圖像旋轉(zhuǎn)的算法,圖像處理過(guò)程以及各個(gè)芯片的作用。對(duì)無(wú)人偵察平臺(tái)爬坡、復(fù)雜路面、越障等運(yùn)動(dòng)進(jìn)行了 ADAMS/View動(dòng)力學(xué)仿真,得到了在這幾種運(yùn)動(dòng)形式下的位移、速度、加速度曲線以及驅(qū)動(dòng)力矩曲線,并對(duì)這些曲線進(jìn)行了分析,為樣機(jī)的測(cè)試及后期優(yōu)化提供依據(jù),最后,對(duì)無(wú)人偵察平臺(tái)樣機(jī)進(jìn)行了實(shí)況測(cè)試,測(cè)試結(jié)果顯示各項(xiàng)指標(biāo)符合設(shè)計(jì)要求,同時(shí)也表明了雙面行駛偵察平臺(tái)具有良好的機(jī)動(dòng)性與環(huán)境適應(yīng)性。
[Abstract]:In anti-terrorist reconnaissance activities, in order to reduce the casualties of soldiers and quickly determine the intelligence in the target area, it is necessary to design a mobile reconnaissance platform, which is convenient for soldiers to carry, and has the ability to pass through flat ground quickly. The ability of climbing and climbing obstacles, the ability to continue to perform tasks after overturning, and the ability to capture and transmit video images in real time in a certain range; In this paper, a small wheeled unmanned reconnaissance platform is designed. Firstly, the research and development status of military anti-terrorist robot at home and abroad is analyzed, and the overall design scheme is established according to the technical requirements. The planetary gear train is introduced into the design of the walking mechanism of the small wheel-type double-sided unmanned reconnaissance platform. A kind of body lifting mechanism is proposed and designed. In the process of design, the finite element analysis of key components is carried out by ANSYS Workbench, and kinematics and dynamics modeling of unmanned reconnaissance platform which has been designed has been carried out. The plane kinematics model is modeled, and the state equation of motion is given. The tire slip constraint and ground mechanics of planetary gear train are modeled and analyzed. The roll angle and the maximum climbing angle are analyzed. The control system of unmanned reconnaissance platform and the image acquisition and transmission system are designed. Firstly, the motion control principle of unmanned reconnaissance platform is analyzed. Then, the control method of the steering gear of the two-dimensional reconnaissance turntable is analyzed, and the control method of the lifting mechanism is analyzed. Finally, the image rotation algorithm of the unmanned reconnaissance platform after overturning is analyzed. Image processing process and the role of each chip. The unmanned reconnaissance platform climbing, complex road, obstacle and other movements are simulated by ADAMS/View dynamics. The displacement, velocity, acceleration and driving moment curves are obtained in these motion forms, and these curves are analyzed to provide the basis for the test and later optimization of the prototype. The prototype of unmanned reconnaissance platform is tested. The test results show that each index meets the design requirements, and it also shows that the platform has good maneuverability and environmental adaptability.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TJ5;TP242

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