本文選題：機(jī)械結(jié)構(gòu) + 運(yùn)動學(xué)�。� 參考：《天津理工大學(xué)》2017年碩士論文

【摘要】：軟體機(jī)器人可以模仿軟體動物,如章魚、象鼻、蚯蚓等。軟體機(jī)器人能夠模仿動物運(yùn)動模式,適應(yīng)人類不能到達(dá)的環(huán)境。模塊化機(jī)器人具有相對獨(dú)立性、互換性和通用性的特點(diǎn)。因此,本文研究軟體模塊化機(jī)器人。根據(jù)國內(nèi)外軟體機(jī)器人的研究現(xiàn)狀,分析了實驗室中歷代機(jī)器人優(yōu)缺點(diǎn),受到仿生學(xué)啟發(fā),結(jié)合生物蠕動運(yùn)動的特點(diǎn),設(shè)計了一種新型軟體模塊化機(jī)器人單元模塊,主要創(chuàng)新點(diǎn)在于采用形狀記憶合金作為轉(zhuǎn)向驅(qū)動器,單元模塊具有柔韌性,通過協(xié)調(diào)地控制四根形狀記憶合金絲實現(xiàn)轉(zhuǎn)向機(jī)構(gòu)的伸縮或向任意方向彎曲,機(jī)構(gòu)能到達(dá)空間中大部分位置。單元模塊共有3個自由度,具有運(yùn)動靈活、結(jié)構(gòu)緊湊、對接可靠穩(wěn)定的優(yōu)點(diǎn),最后,介紹了兩個模塊所組成構(gòu)型拓?fù)湟约岸鄠�模塊構(gòu)成拓?fù)錁?gòu)型。建立了軟體模塊化機(jī)器人單元模塊的運(yùn)動學(xué)模型,采用分段常曲率法,借鑒D-H法思想,提出基于偽剛體的D-H建模方法和形狀記憶合金線驅(qū)動模型,描述驅(qū)動線運(yùn)動速度與末端執(zhí)行器運(yùn)動的線速度、角速度之間的映射關(guān)系。基于Adams軟件,單元模塊進(jìn)行了伸縮運(yùn)動和彎曲運(yùn)動仿真。通過對比多種動力學(xué)建模方法的優(yōu)缺點(diǎn),選擇凱恩方法建立軟體機(jī)器人的動力學(xué)模型;其次,通過受力分析,建立了軟體機(jī)器人的凱恩動力學(xué)方程和單元模塊截面的動力學(xué)平衡方程;通過Kelvin模型來描述硅膠的粘彈性;最后,基于Adams軟件分析了單元模塊動力學(xué)仿真。最后,對軟體機(jī)器人末端模塊進(jìn)行軌跡規(guī)劃。
[Abstract]:Software robots can mimic mollusks such as octopus, nose, earthworms, etc. Software robots can mimic animal movements and adapt to environments that humans cannot reach. Modular robot has the characteristics of relative independence, interchangeability and versatility. Therefore, the software modular robot is studied in this paper. According to the current research situation of software robot at home and abroad, this paper analyzes the advantages and disadvantages of previous generations of robots in the laboratory. Inspired by bionics and combined with the characteristics of biological creep motion, a new software modular robot unit module is designed. The main innovation is that the shape memory alloy is used as the steering driver, the unit module is flexible, and the four shape memory alloy wires are controlled in coordination to realize the stretching or bending of the steering mechanism in any direction. The mechanism can reach most of the space. The unit module has the advantages of three degrees of freedom, flexible motion, compact structure, reliable and stable docking. Finally, the topology of the two modules and the topology of several modules are introduced. The kinematics model of software modular robot unit module is established. By using the piecewise constant curvature method and the idea of D-H method, the D-H modeling method based on pseudo-rigid body and the shape memory alloy line driving model are proposed. This paper describes the mapping relationship between the speed of driving line and the linear velocity and angular velocity of terminal actuator motion. Based on Adams software, the unit module simulates the stretching motion and bending motion. By comparing the advantages and disadvantages of many dynamic modeling methods, Kane's method is chosen to establish the dynamic model of software robot. Secondly, through the force analysis, The Kane dynamics equation of software robot and the dynamic equilibrium equation of unit module section are established. The viscoelasticity of silica gel is described by Kelvin model. Finally, the dynamic simulation of unit module is analyzed based on Adams software. Finally, the trajectory planning of the software robot end module is carried out.
【學(xué)位授予單位】：天津理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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