本文選題：火星探測 + 彈跳機(jī)器人��； 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：隨著深空探測的不斷深入,世界各國逐漸將目光投向以火星為主的低重力行星。為了獲取火星大氣環(huán)境、土壤地質(zhì)、水文特征等數(shù)據(jù)信息,本課題設(shè)計了一款適用于低重力環(huán)境的微小型星面探測機(jī)器人�；趯鴥�(nèi)外研究現(xiàn)狀的對照分析,通過對比不同彈跳方式和結(jié)構(gòu)設(shè)計形式的優(yōu)缺點,研制一種新型彈跳機(jī)器人,其采用氣動彈跳和輪式行走相結(jié)合的方式,完成巡視探測和彈跳越障任務(wù)。根據(jù)環(huán)境特點和功能要求,完成了彈跳機(jī)器人的整體機(jī)械結(jié)構(gòu)設(shè)計。其中,設(shè)計了一種利用雙舵機(jī)來實現(xiàn)角度同步調(diào)節(jié)的起跳角度調(diào)節(jié)機(jī)構(gòu),主要包括曲柄搖桿機(jī)構(gòu)及附件組成,根據(jù)設(shè)計要求完成了曲柄搖桿機(jī)構(gòu)的優(yōu)化設(shè)計,對其調(diào)節(jié)作用進(jìn)行了詳細(xì)分析。穩(wěn)定性調(diào)節(jié)方式采用低重心結(jié)構(gòu)設(shè)計的自動調(diào)節(jié)方法,對整機(jī)零部件進(jìn)行模塊化分割,完成低重心的結(jié)構(gòu)布局方式。針對彈跳機(jī)器人落地緩沖減震的問題,提出一種采用壓縮彈簧形式的彈性緩沖輪設(shè)計結(jié)構(gòu),并根據(jù)工作環(huán)境詳細(xì)介紹了其結(jié)構(gòu)設(shè)計特點和工作原理。建立了彈跳機(jī)器人運動過程的數(shù)學(xué)模型,并進(jìn)行了彈跳性能分析,建立了單作用氣缸在一定負(fù)載下豎直彈跳運動過程的數(shù)學(xué)模型,從微觀角度分析了其內(nèi)部氣壓、質(zhì)量等參量的變化過程,從宏觀角度建立了彈跳模型。對運動過程進(jìn)行了分析,得到氣缸進(jìn)氣腔壓力、活塞桿位移、速度隨時間的變化關(guān)系。為了驗證理論建模的正確性,搭建了簡易的氣缸彈跳運動的實驗臺,得到氣缸彈跳運動過程中設(shè)計參量的變化關(guān)系,通過對比實驗結(jié)果和理論分析,驗證了彈跳機(jī)器人建立模型分析的正確性。為保證彈跳機(jī)器人的各個功能的實現(xiàn),設(shè)計了相應(yīng)的控制系統(tǒng)。通過傳統(tǒng)按鍵方式實現(xiàn)彈跳機(jī)器人的不同的動作,選用合適的元器件完成了控制板的實物焊接;其次,利用有限元軟件ANSYS的Mechanical模塊完成了彈跳機(jī)器人機(jī)架系統(tǒng)及零部件的靜力學(xué)應(yīng)力分析,通過ADAMS軟件建立了曲柄搖桿機(jī)構(gòu)的模型并進(jìn)行了仿真分析;最后進(jìn)行了實物樣機(jī)的加工制作和安裝測試,對彈跳高度、彈跳穩(wěn)定性進(jìn)行了實驗測試,驗證了氣動彈跳越障方式的可行性,機(jī)械結(jié)構(gòu)設(shè)計的合理性。最后對彈跳機(jī)器人在實際測試中存在的問題進(jìn)行了分析,對后續(xù)的研究方向和研究重點進(jìn)行了展望。
[Abstract]:With the deepening of deep space exploration, all countries of the world are gradually focusing on the low gravity planets dominated by Mars. In order to obtain the data information such as the atmospheric environment, soil geology and hydrological characteristics of Mars, a micro star surface detection robot for low gravity environment is designed. Based on the comparison of the domestic and foreign research status By comparing the advantages and disadvantages of different bounce modes and structural design forms, a new type of jumping robot is developed, which adopts the combination of pneumatic jumping and wheel walking to complete the mission of inspection and jumping over obstacle. According to the environmental characteristics and functional requirements, the overall mechanical structure of the projectile hopping robot is completed. The design of the robot is designed. A take-off angle adjusting mechanism, which uses the double steering machine to realize the angle synchronization adjustment, is mainly composed of the crank rocker mechanism and the accessories. According to the design requirements, the optimum design of the crank rocker mechanism is completed. The adjustment function is analyzed in detail. The automatic adjustment method for the design of the low gravity center is adopted for the stability adjustment mode. The structure layout of the machine parts is divided in modularization, and the structure layout of the low gravity center is completed. In view of the problem of the landing buffer of the bouncing robot, a design structure of the elastic buffer wheel with the form of compression spring is put forward, and the structure design features and working principle are introduced in detail according to the working environment. The mathematical model and the analysis of the jumping performance are carried out. The mathematical model of the vertical jump movement of the single acting cylinder under a certain load is set up. The change process of the internal pressure, the quality and other parameters is analyzed from the micro angle. The jumping model is established from the macroscopic angle. The movement process is analyzed, the pressure of the cylinder inlet cavity is obtained and the piston is obtained. In order to verify the correctness of the theoretical modeling, a simple test bench for the cylinder bounce movement is set up to obtain the change relation of the design parameters during the cylinder bounce movement. By comparing the experimental results and theoretical analysis, the correctness of the model analysis of the jumping robot is verified. According to the realization of each function of the robot, the corresponding control system is designed. The different movements of the bounce robot are realized through the traditional key mode, the suitable components are selected to complete the physical welding of the control board. Secondly, the statics of the frame system and parts of the bouncing robot are completed by using the Mechanical module of the finite element software ANSYS. In the stress analysis, the model of crank rocker mechanism is set up by ADAMS software and the simulation analysis is carried out. Finally, the machining production and installation test of the physical prototype are carried out, the jumping height and the jump stability are tested. The feasibility of the aerodynamic jump obstacle avoidance method and the rationality of the mechanical structure design are verified. Finally, the bouncing machine is made. The problems existing in the actual test are analyzed, and the future research direction and research emphasis are prospected.
【學(xué)位授予單位】：哈爾濱工業(yè)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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本文編號：2096490