本文關(guān)鍵詞：輪腿式六足偵查機(jī)器人設(shè)計(jì)與分析　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： 輪腿式機(jī)器人 運(yùn)動(dòng)學(xué)分析 步態(tài)規(guī)劃 動(dòng)力學(xué)仿真 實(shí)驗(yàn)研究

【摘要】：輪腿式機(jī)器人作為當(dāng)今智能機(jī)器人發(fā)展的一個(gè)重要分支,有著廣闊的研究空間和應(yīng)用前景。本文在分析和總結(jié)國(guó)內(nèi)外研究成果的基礎(chǔ)上,設(shè)計(jì)了一種兼具腿式和輪式功能的新型輪腿式六足偵查機(jī)器人,并圍繞該機(jī)器人的結(jié)構(gòu)設(shè)計(jì)、運(yùn)動(dòng)學(xué)及動(dòng)力學(xué)分析、步態(tài)規(guī)劃和穩(wěn)定性探討等內(nèi)容開(kāi)展了研究工作。本文提出了輪腿式六足偵查機(jī)器人的總體方案,完成了該機(jī)器人的框架結(jié)構(gòu)、輪腿結(jié)構(gòu)、偵查模塊的設(shè)計(jì)及三維模型的建立,重點(diǎn)描述了輪腿構(gòu)成、自鎖方式和輪—腿模式轉(zhuǎn)換原理。建立了關(guān)重件輪腿的有限元模型,進(jìn)而對(duì)輪腿進(jìn)行了靜力學(xué)應(yīng)力、應(yīng)變分析以及模態(tài)分析,初步驗(yàn)證了輪腿設(shè)計(jì)的合理性�；谳喭鹊臉�(gòu)型和參數(shù),建立了機(jī)器人三足步態(tài)下的運(yùn)動(dòng)學(xué)模型和動(dòng)力學(xué)模型;通過(guò)三足步態(tài)仿真研究,驗(yàn)證了所建模型的正確性。在總結(jié)腿、足式機(jī)器人經(jīng)典步態(tài)的基礎(chǔ)上,規(guī)劃了一套適用于本機(jī)器人的行進(jìn)步態(tài)方法,包括三足、四足、轉(zhuǎn)彎、臺(tái)階、爬坡和輪式步態(tài),并說(shuō)明了各自的適用地形。分析了機(jī)器人在常用三足步態(tài)下、置于非平坦地形上的靜態(tài)和動(dòng)態(tài)穩(wěn)定性,為該型機(jī)器人的穩(wěn)定性研究提供了參考。從輪腿驅(qū)動(dòng)源出發(fā)優(yōu)化了足端軌跡,解決了機(jī)器人輪腿落地時(shí)可能產(chǎn)生的沖擊振動(dòng)問(wèn)題。運(yùn)用ADAMS軟件對(duì)機(jī)器人進(jìn)行動(dòng)力學(xué)仿真,驗(yàn)證了結(jié)構(gòu)設(shè)計(jì)、步態(tài)規(guī)劃等的可行性。最后進(jìn)行了機(jī)器人控制系統(tǒng)設(shè)計(jì)及各硬件設(shè)計(jì),并制作了樣機(jī)。通過(guò)實(shí)驗(yàn)研究與分析,驗(yàn)證了步態(tài)規(guī)劃、結(jié)構(gòu)設(shè)計(jì)的合理性,為該機(jī)器人的改進(jìn)研究提供了依據(jù)。
[Abstract]:As an important branch of the development of intelligent robot, wheel-legged robot has a broad research space and application prospect. This paper analyzes and summarizes the research results at home and abroad. A new wheeled six-legged detection robot with both leg and wheel functions is designed and designed around the structure kinematics and dynamics of the robot. Gait planning and stability research are carried out. In this paper, the overall scheme of wheel-legged six-legged detection robot is proposed, and the frame structure and wheel-leg structure of the robot are completed. The design of investigation module and the establishment of 3D model, mainly describe the structure of wheel-leg, self-locking mode and the principle of wheel-leg mode conversion. The finite element model of Wheel leg is established, and then the statics stress of Wheel leg is carried out. Based on the configuration and parameters of the wheel-leg, the kinematics model and dynamic model of the three-legged robot are established. The correctness of the model is verified by the simulation of tripod gait. On the basis of summarizing the classical gait of leg and foot robot, a set of walking gait method suitable for this robot is planned, including tripodal gait and quadruped gait. Turn, step, climb slope and wheeled gait, and explain their suitable terrain. The static and dynamic stability of robot on uneven terrain under tripodal gait is analyzed. It provides a reference for the study of the stability of the robot and optimizes the trajectory of the foot from the wheel-leg driving source. The impact vibration of the robot wheeled leg is solved. The dynamic simulation of the robot is carried out by using ADAMS software, and the structure design is verified. The feasibility of gait planning. Finally, the robot control system design and hardware design, and made a prototype. Through experimental research and analysis, the rationality of gait planning and structure design is verified. It provides a basis for the improvement of the robot.
【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)】：TP242

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