本文選題：鉤爪腳掌 + 爬壁機(jī)器人��； 參考：《南京航空航天大學(xué)》2017年碩士論文

【摘要】：自然界中的生物可以通過足端的鉤爪實(shí)現(xiàn)豎直面自由攀爬以及與腿部倒刺結(jié)構(gòu)發(fā)生鎖合實(shí)現(xiàn)在倒置的表面自由爬行。生物的這種獨(dú)特的能力可以被應(yīng)用到爬壁機(jī)器人領(lǐng)域,以提高機(jī)器人在粗糙的豎直表面的爬行能力。鉤爪式爬壁機(jī)器人作為特種機(jī)器人的重要分支,具有功耗低、噪聲小、附著穩(wěn)定、脫附簡(jiǎn)單等優(yōu)秀特性,對(duì)自然界中常見的粗糙的、不規(guī)則的、布滿灰塵的表面有著較強(qiáng)的適應(yīng)能力。本文借鑒生物突出的運(yùn)動(dòng)能力與附著特性,研制了鉤爪式爬壁機(jī)器人。論文首先建立了鉤爪與粗糙表面的附著模型,并研究影響鉤爪在粗糙表面附著能力的因素,理解鉤爪附著方式�；谔岢龅膮⒖笺^爪附著部件設(shè)計(jì)原則,規(guī)避目前采用先進(jìn)的形狀沉積技術(shù)設(shè)計(jì)柔性附著部件的方式,以簡(jiǎn)易的鎖合方式設(shè)計(jì)了柔性鉤爪腳掌結(jié)構(gòu),并通過實(shí)驗(yàn)驗(yàn)證所設(shè)計(jì)柔性鉤爪腳掌的優(yōu)秀的附著性能�；谌嵝糟^爪腳掌的附著方式,結(jié)合生物在壁面爬行時(shí)常采用的匍匐姿態(tài)和爬行步態(tài),研制了鉤爪式四足爬壁機(jī)器人機(jī)身結(jié)構(gòu),并為其規(guī)劃了周期性多功能的對(duì)角爬行步態(tài)和高效的足端軌跡,以仿真的形式驗(yàn)證了結(jié)構(gòu)設(shè)計(jì)的合理性和步態(tài)功能的可行性。以安全、高效與簡(jiǎn)潔為原則開發(fā)了機(jī)器人控制系統(tǒng),通過控制系統(tǒng)的上位機(jī)與機(jī)器人交互通訊對(duì)機(jī)器人運(yùn)行狀態(tài)進(jìn)行監(jiān)控,并以反饋控制的方式提高了機(jī)器人的控制精度。最終通過實(shí)驗(yàn)測(cè)試了本文所設(shè)計(jì)的鉤爪式四足爬壁機(jī)器人對(duì)于粗糙表面的適應(yīng)范圍,以及不同表面的極限爬行速度與極限負(fù)載能力,并驗(yàn)證了機(jī)器人可以實(shí)現(xiàn)在粗糙的豎直表面前進(jìn)、轉(zhuǎn)彎、后退的基本功能,以及上位機(jī)反饋控制結(jié)果的可靠有效。
[Abstract]:The natural creatures can climb the vertical face freely by the hook claw of the foot and crawl freely on the inverted surface by locking the inverted leg structure. This unique ability of biology can be applied to the field of wall climbing robots to improve the crawling ability of robots on rough vertical surfaces. As an important branch of special robot, hook-and-claw climbing robot has the advantages of low power consumption, low noise, stable adhesion, simple desorption and so on. Dusty surfaces have a strong adaptability. In this paper, a hook-claw type wall climbing robot is developed based on the outstanding motion ability and attachment characteristics of organisms. In this paper, the adhesion model between the hook claw and the rough surface is established, and the factors that affect the adhesion ability of the hook claw on the rough surface are studied, and the adhesion mode of the hook claw is understood. Based on the design principle of reference hook claw attachment part, the flexible hook claw foot structure is designed by a simple locking method to avoid the design of flexible attachment parts by using advanced shape deposition technology at present. The excellent adhesion performance of the flexible claw paw is verified by experiments. Based on the attachment mode of flexible hook claw foot, combined with the creeping posture and crawling gait, the fuselage structure of hook-and-claw four-legged climbing robot was developed. The diagonal crawling gait with periodic multifunction and high efficient foot trajectory are planned. The rationality of structural design and the feasibility of gait function are verified by simulation. Based on the principles of safety, efficiency and simplicity, the robot control system is developed. The robot's running state is monitored by the communication between the upper computer and the robot, and the control precision of the robot is improved by the way of feedback control. Finally, the adaptive range of the hook-and-claw four-legged climbing robot for rough surface, the limit crawling speed and the ultimate load capacity of different surfaces are tested through experiments. It is verified that the robot can achieve the basic functions of advancing, turning and retreating on the rough vertical surface and the reliability and effectiveness of the feedback control results of the upper computer.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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本文編號(hào)：1783690