發(fā)布時(shí)間：2018-06-22 22:58

  本文選題：災(zāi)難勘探 + 移動(dòng)機(jī)器人��； 參考：《北京交通大學(xué)》2017年碩士論文

【摘要】：隨著機(jī)器人機(jī)構(gòu)學(xué)理論與智能控制理論的發(fā)展,地面移動(dòng)機(jī)器人越來(lái)越得到社會(huì)各界的關(guān)注。不同的移動(dòng)形式、不同的適用環(huán)境的機(jī)器人逐漸被相關(guān)領(lǐng)域研究學(xué)者提出。目前,地面移動(dòng)機(jī)器人以其易控制性、高度靈活性、任務(wù)多樣化等優(yōu)點(diǎn)被應(yīng)用到了許多行業(yè),例如軍事偵探、醫(yī)療服務(wù)、快遞物流、災(zāi)難救援等。本文以城市災(zāi)難現(xiàn)場(chǎng)勘探和物資運(yùn)輸為應(yīng)用場(chǎng)景,提出了一種由3RPS并聯(lián)機(jī)構(gòu)和3P縮放機(jī)構(gòu)組合而成的新型機(jī)構(gòu)(命名為2-3RPS平臺(tái)可縮放機(jī)構(gòu)),并將其用于災(zāi)難勘探機(jī)器人。本文分析了該機(jī)構(gòu)的自由度、運(yùn)動(dòng)學(xué)正解、運(yùn)動(dòng)學(xué)逆解以及將該機(jī)構(gòu)用于地面移動(dòng)機(jī)器人(災(zāi)難勘探機(jī)器人)的運(yùn)動(dòng)步態(tài)。分析結(jié)果表明,3RPS并聯(lián)機(jī)構(gòu)自由度為3、3P縮放機(jī)構(gòu)自由度為1、2-3RPS平臺(tái)可縮放機(jī)構(gòu)自由度為9;該機(jī)構(gòu)用于可縮放并聯(lián)蠕動(dòng)機(jī)器人的原理構(gòu)型時(shí),對(duì)機(jī)器人的前進(jìn)步態(tài)、后退步態(tài)以及轉(zhuǎn)向步態(tài)進(jìn)行了探討,分析了步態(tài)中需要滿足的機(jī)構(gòu)條件,給出了三種運(yùn)動(dòng)步態(tài)中原動(dòng)件各自不同的運(yùn)動(dòng)規(guī)律。運(yùn)用Adams軟件對(duì)2-3RPS平臺(tái)可縮放機(jī)構(gòu)的自由度以及運(yùn)動(dòng)步態(tài)進(jìn)行了仿真與驗(yàn)證。仿真結(jié)果表明,本文對(duì)3RPS并聯(lián)機(jī)構(gòu)、3P機(jī)構(gòu)以及3RPS平臺(tái)可縮放機(jī)構(gòu)的自由度計(jì)算結(jié)果正確,對(duì)該新機(jī)構(gòu)的運(yùn)動(dòng)步態(tài)(前進(jìn)步態(tài)、后退步態(tài)以及轉(zhuǎn)向步態(tài))分析結(jié)果正確,仿真按照預(yù)期完成。通過(guò)對(duì)機(jī)構(gòu)的自由度驗(yàn)證和步態(tài)驗(yàn)證之后,進(jìn)行了機(jī)器人的工程樣機(jī)設(shè)計(jì)、加工與組裝。本文介紹了樣機(jī)設(shè)計(jì)的流程,對(duì)轉(zhuǎn)動(dòng)副設(shè)計(jì)、推桿選型、球副的設(shè)計(jì)、縮放平臺(tái)設(shè)計(jì)進(jìn)行了簡(jiǎn)述。其中,球副的設(shè)計(jì)時(shí),對(duì)本文采用的虎克鉸與轉(zhuǎn)動(dòng)副串聯(lián)方案進(jìn)行詳細(xì)的分析。之后,根據(jù)步態(tài)分析的運(yùn)動(dòng)策略,用Arduino開發(fā)板作為主控單元對(duì)樣機(jī)的控制系統(tǒng)進(jìn)行搭建。實(shí)驗(yàn)結(jié)果表明,機(jī)器人在9個(gè)原動(dòng)件的情況下具有確定的運(yùn)動(dòng),且能按照預(yù)期完成前進(jìn)步態(tài)、后退步態(tài)以及轉(zhuǎn)向步態(tài),分析結(jié)果與仿真結(jié)果正確。
[Abstract]:With the development of robot mechanism theory and intelligent control theory, more and more attention has been paid to ground mobile robot. Robots with different mobile forms and different environments have been proposed by researchers in related fields. At present, ground mobile robots are widely used in many industries, such as military detective, medical service, express logistics, disaster rescue and so on. In this paper, a new type of mechanism (named 2-3RPS platform scalable mechanism), which is composed of 3RPS parallel mechanism and 3P zoom mechanism, is proposed and applied to the disaster exploration robot based on the application scenario of urban disaster scene exploration and material transportation. In this paper, the degree of freedom, forward kinematics solution, inverse kinematics solution of the mechanism and its application in moving gait of ground mobile robot (disaster exploration robot) are analyzed. The analysis results show that the degree of freedom of the 3RPS parallel mechanism is 3 / 3P and the degree of freedom of the scalable mechanism is 1 / 2 / 3RPS / 3RPS, and the mechanism is applied to the principle configuration of the scalable parallel peristaltic robot and the forward gait of the robot is obtained. The backward gait and steering gait are discussed, and the mechanism conditions in gait are analyzed, and the different motion laws of the primary mover in the three kinds of gait are given. The degree of freedom and the motion gait of the scalable mechanism of 2-3 RPS platform are simulated and verified by Adams software. The simulation results show that the calculation results of the degrees of freedom of the 3RPS parallel mechanism and the 3RPS scalable mechanism are correct, and the analysis results of the moving gait (forward gait, backward gait and steering gait) of the new mechanism are correct. The simulation is completed as expected. After verifying the degrees of freedom and gait of the mechanism, the engineering prototype of the robot is designed, machined and assembled. This paper introduces the flow of prototype design, and briefly describes the design of rotary pair, the selection of push rod, the design of ball pair and the design of zoom platform. When the ball pair is designed, the series scheme of Hook hinge and rotating pair is analyzed in detail. Then, according to the motion strategy of gait analysis, Arduino development board is used as the main control unit to build the control system of the prototype. The experimental results show that the robot has certain motion under the condition of 9 original moving parts, and can complete the forward gait, the backward gait and the steering gait according to the expectation. The analysis result is correct with the simulation result.
【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】：2017
【分類號(hào)】：TP242

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