發(fā)布時(shí)間：2018-02-08 19:46

  本文關(guān)鍵詞： 閉鏈弓形五連桿 質(zhì)心運(yùn)動學(xué)模型 越障能力 勻速爬坡 運(yùn)動規(guī)劃　出處：《武漢紡織大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：本論文針對在非結(jié)構(gòu)環(huán)境下提出了具有圓弧外輪廓的閉鏈弓形五連桿機(jī)構(gòu)。閉鏈弓形五連桿由五個(gè)相同的弓形桿件模塊首尾串聯(lián)而成,通過配重法使每個(gè)弓形桿件模塊質(zhì)量mi相等且質(zhì)心位置處于相鄰模塊關(guān)節(jié)連線的中點(diǎn)。當(dāng)五個(gè)關(guān)節(jié)角均為108o時(shí),閉鏈弓形五連桿的外輪廓為圓形,質(zhì)心與形心重合。單根桿件觸地時(shí),依靠質(zhì)心偏置產(chǎn)生的重力矩機(jī)構(gòu)能夠?qū)崿F(xiàn)平面準(zhǔn)靜態(tài)滾動。為了便于分析與表達(dá),通常將障礙物地形簡化為斜坡、臺階、連續(xù)臺階、凸臺、溝道等具有典型特征的地形,本文選擇臺階和斜坡障礙物地形考查閉鏈弓形五連桿運(yùn)動性能。首先對閉鏈弓形五連桿的準(zhǔn)靜態(tài)翻滾過程進(jìn)行研究,進(jìn)行準(zhǔn)靜態(tài)翻滾運(yùn)動學(xué)分析;分析越障過程中的運(yùn)動約束和幾何約束,建立閉鏈弓形五連桿機(jī)構(gòu)的最大越障分析模型,利用數(shù)值算法獲得了最大越障高度隨接觸角和關(guān)節(jié)圓半徑的變化曲線。根據(jù)質(zhì)心可行域邊界曲線內(nèi)凹的特點(diǎn),依照行程最短策略采用切線法來規(guī)劃越障過程中系統(tǒng)質(zhì)心運(yùn)動路徑,進(jìn)而利用運(yùn)動學(xué)逆解得到主動關(guān)節(jié)軌跡,通過受力關(guān)系解算出了準(zhǔn)靜態(tài)越障過程最大靜摩擦系數(shù)的變化曲線。其次,建立系統(tǒng)爬坡受力分析模型,并在主動關(guān)節(jié)角爬坡約束下求解出爬坡的坡度表達(dá)式,利用數(shù)值算法獲得了坡度最大與翻滾角的曲線圖,通過受力關(guān)系解算出了最大靜摩擦系數(shù)的變化曲線。對恒定質(zhì)心偏距勻速爬坡進(jìn)行運(yùn)動規(guī)劃,進(jìn)而解算主動關(guān)節(jié)軌跡。最后,通過樣機(jī)實(shí)驗(yàn)驗(yàn)證了越障和爬坡過程的分析結(jié)果的正確性。閉鏈弓形五連桿準(zhǔn)靜態(tài)平面翻滾過程的質(zhì)心運(yùn)動學(xué)模型的建立與求解為研究準(zhǔn)靜態(tài)越障過程和恒定質(zhì)心爬坡過程提供了理論基礎(chǔ)。
[Abstract]:In this paper, a closed chain arched five-bar mechanism with outer arc profile is proposed under unstructured environment. The closed chain arched five-bar is composed of five modules of the same arched bar, the first and the last of which are connected in series. The mass mi of each module is equal and the center of mass is at the midpoint of the connection between the adjacent joints. When the angle of the five joints is 108o, the outer contour of the five-bar is circular. When a single member touches the ground, the weight moment mechanism produced by the deflection of the center of mass can realize the plane quasi-static rolling. For the sake of analysis and expression, the obstacle terrain is usually simplified as slope, step, continuous step, convex platform. In this paper, the terrain with typical characteristics, such as channel, is chosen to examine the kinematic performance of the closed chain arch five-bar. Firstly, the quasi-static rolling process of the closed chain arch five-bar is studied, and the quasi-static rolling kinematics analysis is carried out. The kinematic and geometric constraints in the process of obstacle surmounting are analyzed, and the maximum obstacle analysis model of the closed chain arched five-bar mechanism is established. The curve of maximum obstacle height with contact angle and radius of joint circle is obtained by numerical method. According to the concave characteristic of boundary curve in the feasible region of centroid of mass, According to the shortest stroke strategy, the tangent method is used to plan the motion path of the center of mass in the process of obstacle crossing, and then the trajectory of the active joint is obtained by using the inverse kinematics solution. The variation curve of maximum static friction coefficient during quasi-static obstacle surmounting process is calculated by the solution of force relation. Secondly, the analysis model of system climbing force is established, and the slope expression of climbing slope is obtained under the constraint of active joint angle. The curve of maximum slope and roll angle is obtained by using numerical algorithm, and the variation curve of maximum static friction coefficient is calculated by force relation solution. The motion planning of constant centroid deviation and constant velocity climbing is carried out, and then the trajectory of active joint is calculated. The correctness of the analysis results of obstacle surmounting and climbing process is verified by prototype experiment. The kinematics model of centroid in the quasi static plane rolling process of closed chain bow is established and solved for the study of quasi static obstacle surmounting process and constant mass. The core climbing process provides the theoretical basis.
【學(xué)位授予單位】：武漢紡織大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 樂治后;;消防機(jī)器人行走系統(tǒng)發(fā)展初探[J];科技創(chuàng)新與應(yīng)用;2015年11期

2 葛為民;張華瑾;王肖鋒;雷營林;;自重構(gòu)機(jī)器人變形過程運(yùn)動學(xué)分析及越障仿真[J];中國機(jī)械工程;2014年19期

3 余聯(lián)慶;劉曉軍;王玉金;吳昌林;;閉鏈弓形五連桿機(jī)構(gòu)的準(zhǔn)靜態(tài)翻滾運(yùn)動規(guī)劃[J];華中科技大學(xué)學(xué)報(bào)(自然科學(xué)版);2014年06期

4 胡亞南;馬書根;李斌;王明輝;王越超;;基于旋量動力學(xué)建模的可重構(gòu)輪手一體機(jī)器人越障性能研究[J];高技術(shù)通訊;2013年10期

5 孫漢旭;趙偉;張延恒;;新型變結(jié)構(gòu)球形機(jī)器人運(yùn)動分析[J];機(jī)械工程學(xué)報(bào);2013年19期

6 郝艷玲;苗志懷;謝基龍;姚燕安;;截角六面體可變形滾動機(jī)構(gòu)[J];機(jī)械工程學(xué)報(bào);2013年11期

7 汪紅波;余聯(lián)慶;王玉金;王立平;;具有翻滾模式的可變形四足機(jī)器人結(jié)構(gòu)設(shè)計(jì)與分析[J];中國機(jī)械工程;2012年22期

8 孫治偉;孫漢旭;賈慶軒;張延恒;趙偉;葉茁;;一種具有爬坡能力的球形機(jī)器人運(yùn)動分析[J];機(jī)器人;2012年02期

9 張利格;畢樹生;彭朝琴;;空間四面體翻滾機(jī)器人運(yùn)動學(xué)分析及仿真實(shí)驗(yàn)[J];北京航空航天大學(xué)學(xué)報(bào);2011年04期

10 田耀斌;郭一竹;劉長煥;姚燕安;;單自由度概率翻轉(zhuǎn)移動連桿機(jī)構(gòu)[J];機(jī)械工程學(xué)報(bào);2011年03期

相關(guān)碩士學(xué)位論文 前6條

1 劉宗豪;一種輪履復(fù)合式變體輪的設(shè)計(jì)與分析[D];天津理工大學(xué);2014年

2 張華瑾;自重構(gòu)模塊化機(jī)器人系統(tǒng)的運(yùn)動分析與研究[D];天津理工大學(xué);2014年

3 司躍元;輪履復(fù)合機(jī)器人的機(jī)械結(jié)構(gòu)設(shè)計(jì)及特性分析[D];天津理工大學(xué);2013年

4 何慧娟;基于多傳感器的移動機(jī)器人障礙物檢測與定位研究[D];安徽工程大學(xué);2010年

5 趙凱亮;BYQ-4球形機(jī)器人運(yùn)動特性分析及操作任務(wù)研究[D];北京郵電大學(xué);2009年

6 陳文;并聯(lián)機(jī)構(gòu)型多履帶式移動機(jī)器人的機(jī)構(gòu)研究[D];東華大學(xué);2007年

，

本文編號：1496124