本文選題：反恐防暴 + 機(jī)器人　； 參考：《山東科技大學(xué)》2017年碩士論文

【摘要】：本課題結(jié)合當(dāng)前國(guó)內(nèi)對(duì)移動(dòng)機(jī)器人的設(shè)計(jì)要求,依據(jù)青島市民生科技項(xiàng)目設(shè)計(jì)出了一種新型的多自由度、可變形的履帶式反恐防暴機(jī)器人。該反恐防暴機(jī)器人采用腿與履帶相結(jié)合的變形方式,共有12個(gè)自由度,能夠靈活變形。通過(guò)多種變形方式,可以跨越壕溝,可以翻越高凸臺(tái)障礙物。首先,對(duì)國(guó)內(nèi)外反恐防暴機(jī)器人的有關(guān)情況進(jìn)行了簡(jiǎn)單的介紹,結(jié)合國(guó)內(nèi)外研究現(xiàn)狀,對(duì)比國(guó)內(nèi)外的反恐防暴機(jī)器人研究差距,提出了自己的多自由度可變形移動(dòng)機(jī)器人的想法;其次,結(jié)合設(shè)計(jì)要求,提出不同的設(shè)計(jì)方案,對(duì)各方案進(jìn)行對(duì)比分析,選出一種合適的既能滿足要求又能將質(zhì)量降到最低且結(jié)構(gòu)簡(jiǎn)單的設(shè)計(jì)方案,根據(jù)設(shè)計(jì)方案,利用SolidWorks三維作圖軟件將每個(gè)零件都進(jìn)行參數(shù)化建模,并且給每個(gè)零部件模型賦予材料屬性,然后將各零件根據(jù)裝配關(guān)系添加配合,得到反恐防暴機(jī)器人三維虛擬樣機(jī);再次,根據(jù)反恐防暴機(jī)器人的結(jié)構(gòu)特點(diǎn),對(duì)其越障能力進(jìn)行分析研究,并且對(duì)反恐防暴機(jī)器人翻越凸臺(tái)障礙物以及跨越壕溝進(jìn)行越障動(dòng)作規(guī)劃,在不影響仿真結(jié)果的前提下,將虛擬樣機(jī)簡(jiǎn)化并將簡(jiǎn)化后的反恐防暴機(jī)器人虛擬樣機(jī)各模塊另存為parasolid格式,導(dǎo)入Adams中進(jìn)行虛擬樣機(jī)仿真分析,得出力矩、角度、角速度、質(zhì)心變化曲線,根據(jù)仿真結(jié)果驗(yàn)證了本文所規(guī)劃的越障動(dòng)作的正確性以及機(jī)器人在此規(guī)劃下越障的穩(wěn)定性;最后,結(jié)合虛擬樣機(jī)仿真分析結(jié)果,將反恐防暴機(jī)器人變形過(guò)程中的關(guān)鍵受力零部件轉(zhuǎn)換為parasolid格式導(dǎo)入ANSYS中進(jìn)行有限元分析,得出應(yīng)力、應(yīng)變和位移云圖,依照分析結(jié)果對(duì)關(guān)鍵零部件的強(qiáng)度進(jìn)行校核。
[Abstract]:According to the design requirements of mobile robots in China, a new multi-degree-of-freedom deformable anti-riot robot is designed according to the Qingdao Minsheng Science and Technology Project. The anti-riot robot can deform 12 degrees of freedom by combining legs and tracks. Through a variety of deformation, can cross the trench, can climb high platform obstacles. First of all, the relative situation of anti-riot robot at home and abroad is briefly introduced, and the research gap of anti-riot robot at home and abroad is compared with the current research situation at home and abroad. The idea of multi-degree-of-freedom deformable mobile robot is put forward. Secondly, according to the design requirements, different design schemes are put forward, and each scheme is compared and analyzed. A suitable design scheme, which can not only meet the requirements but also reduce the quality to the lowest and simple structure, is selected. According to the design scheme, every part is modeled parameterized by SolidWorks 3D drawing software. And give each component model material attributes, and then each part according to the assembly relationship to add matching, get anti-riot robot three-dimensional virtual prototype; thirdly, according to the anti-riot robot structure characteristics, The ability of surmounting obstacle is analyzed and studied, and the anti-riot robot surmounts the platform obstacles and crosses the trenches, without affecting the simulation results. The virtual prototype is simplified and each module of the simplified anti-riot robot is saved as parasolid format. The virtual prototype is imported into Adams to simulate and analyze the virtual prototype. The curves of torque, angle, angular velocity and centroid change are obtained. According to the simulation results, the correctness of the proposed obstacle crossing action and the stability of the robot under the plan are verified. Finally, the simulation results of the virtual prototype are combined. The key parts of anti-riot robot during deformation are transformed into parasolid format for finite element analysis, and the stress, strain and displacement cloud diagrams are obtained. According to the analysis results, the strength of the key parts is checked.
【學(xué)位授予單位】：山東科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

【相似文獻(xiàn)】

相關(guān)期刊論文 前10條

1 王美玲;汪永明;余曉流;;基于半轉(zhuǎn)機(jī)構(gòu)月球車(chē)硬地面越障性能分析[J];機(jī)械科學(xué)與技術(shù);2011年02期

2 姜勇;;深海復(fù)合輪式采礦機(jī)器人越障性能研究[J];機(jī)器人;2012年02期

3 汪新,楊棟,許e，

本文編號(hào)：2103056