欠驅(qū)動輪式移動農(nóng)業(yè)機器人的仿真與控制研究
發(fā)布時間：2018-07-20 10:40
【摘要】：農(nóng)業(yè)機器人是農(nóng)業(yè)工程科學(xué)領(lǐng)域發(fā)展的重要方向,屬于多學(xué)科融合的、綜合性的、正處于蓬勃發(fā)展和進(jìn)步中的高新技術(shù)。設(shè)施農(nóng)業(yè)的發(fā)展極大推動了智能農(nóng)業(yè)機械的發(fā)展,農(nóng)業(yè)機器人逐漸成為農(nóng)業(yè)智能機械的主攻方向,替代勞動者負(fù)責(zé)農(nóng)產(chǎn)品生產(chǎn)管理,提高勞動生產(chǎn)率以及農(nóng)產(chǎn)品品質(zhì),逐漸成為當(dāng)前國際農(nóng)業(yè)工程發(fā)展趨勢。本課題在國家自然基金項目“欠驅(qū)動輪式移動農(nóng)業(yè)機器人廣義動力學(xué)及實時控制研究”的資助下進(jìn)行研究。本文主要研究內(nèi)容包括:查閱大量國內(nèi)外相關(guān)文獻(xiàn),制定研究總體方案,確定研究技術(shù)路線,設(shè)計了欠驅(qū)動輪式移動農(nóng)業(yè)機器人的機械硬件系統(tǒng),機器人本體由輪式移動平臺和前置的6自由度機械臂組成,通過變換末端執(zhí)行器(采摘手,夾持器,噴頭,除草割刀等)可實現(xiàn)功能擴(kuò)展與實際功能適用。輪式移動平臺主要由車架、后輪驅(qū)動機構(gòu)、前輪轉(zhuǎn)向機構(gòu)組成;末端執(zhí)行器則是根據(jù)實際作業(yè)要求進(jìn)行靈活組合;后輪驅(qū)動機構(gòu)采用鏈傳動形式保證車體承載能力,適應(yīng)惡劣的工作環(huán)境;前輪轉(zhuǎn)向機構(gòu)與機械臂底盤轉(zhuǎn)向機構(gòu)采用同步帶傳動保證轉(zhuǎn)向精度;6自由度機械臂是由腰、肩、肘三個宏關(guān)節(jié)與3轉(zhuǎn)動微關(guān)節(jié)組成的腕關(guān)節(jié)構(gòu)成,通過伺服電機串聯(lián)減速機獲取足夠力矩驅(qū)動機械臂轉(zhuǎn)動實現(xiàn)以期望的速度、方向沿規(guī)劃軌跡運動。基于Piper法則建立欠驅(qū)動輪式農(nóng)業(yè)機器人的六自由度串聯(lián)機械臂模型,通過D-H參數(shù)描述了末端執(zhí)行器相對于基座坐標(biāo)系的位姿,建立了D-H坐標(biāo)系下6自由度串聯(lián)機械臂正逆運動學(xué)方程,并利用Mathmatica軟件編程予以符號解算,提出了逆解最優(yōu)解選取原則,并在MATLAB環(huán)境下運用Robotics工具箱仿真模擬機械臂規(guī)避障礙,驗證6自由度機械臂正逆運動學(xué)分析的正確性與機構(gòu)設(shè)計的合理性。設(shè)計了以STM32為核心的機器人控制系統(tǒng),采用PID算法以PWM+方向的控制模式實現(xiàn)機器人工作于速度、位置、力矩模式,編制了基于PID算法的下位機控制程序。在Solidworks環(huán)境下完成三維實體建模后,在ADAMS環(huán)境下對欠驅(qū)動輪式農(nóng)業(yè)機器人進(jìn)行了力矩、速度、角速度仿真,完成了采摘收獲的特定功能仿真,并通過ADAMS與MATLAB聯(lián)合仿真運用PID算法實現(xiàn)機器人的軌跡跟蹤控制。在上述研究的基礎(chǔ)上,研制了欠驅(qū)動輪式農(nóng)業(yè)機器人第一代樣機AMR-1,通過樣機試驗驗證AMR-1機械機構(gòu)的合理性與控制程序的可靠性、精確性。通過試驗發(fā)現(xiàn)不足進(jìn)行改善優(yōu)化。
[Abstract]:Agricultural robot is an important direction in the field of agricultural engineering science. It belongs to the multi-disciplinary integration, comprehensive, is in the vigorous development and progress of high-tech. The development of facility agriculture has greatly promoted the development of intelligent agricultural machinery. Agricultural robots have gradually become the main direction of agricultural intelligent machinery. Instead of laborers, they are responsible for the production and management of agricultural products, and improve labor productivity and the quality of agricultural products. Gradually become the current international agricultural engineering development trend. The research is supported by the National Natural Fund project, "Generalized Dynamics and Real time Control of underactuated wheeled Mobile Agricultural Robot". The main research contents of this paper are as follows: referring to a large number of domestic and foreign related literature, formulating the overall research plan, determining the research technical route, designing the mechanical hardware system of the underactuated wheeled mobile agricultural robot. The robot body is composed of a wheeled mobile platform and a forward 6-DOF manipulator. The function extension and practical application can be realized by changing the end actuators (picking hand, gripper, sprinkler, weeding cutter, etc.). The wheeled mobile platform is mainly composed of frame, rear wheel drive mechanism, front wheel steering mechanism; end actuator is flexible combination according to actual operation requirements; rear wheel drive mechanism adopts chain drive to ensure the carrying capacity of car body. The front wheel steering mechanism and the mechanical arm chassis steering mechanism adopt synchronous belt transmission to ensure the steering accuracy is 6 degrees of freedom. The manipulator consists of three macro joints of waist, shoulder and elbow and 3 rotating microjoints. The servo motor series reducer acquires enough torque to drive the manipulator rotation to achieve the desired speed and the direction moves along the planned trajectory. Based on the Piper rule, a six-degree-of-freedom series manipulator model of underactuated wheeled agricultural robot is established. The position and orientation of the end actuator relative to the base coordinate system are described by D-H parameters. The forward and inverse kinematics equation of 6-DOF series manipulator in D-H coordinate system is established, and the symbolic solution is solved by Mathmatica software. The principle of selecting optimal solution of inverse solution is put forward, and the obstacle avoidance of manipulator is simulated by Robotics toolbox in MATLAB environment. The correctness of forward and inverse kinematics analysis and the rationality of mechanism design are verified. The robot control system with STM32 as the core is designed. The pid algorithm is used to realize the robot working in the speed, position and torque mode by using the PWM direction control mode. The control program of the lower computer based on the pid algorithm is programmed. After 3D solid modeling was completed in Solidworks, the simulation of torque, velocity and angular velocity of underactuated wheeled agricultural robot was carried out in Adams environment, and the special function simulation of picking and harvesting was completed. The trajectory tracking control of robot is realized by using pid algorithm through Adams and MATLAB simulation. Based on the above research, the first prototype AMR-1 of underactuated wheeled agricultural robot is developed. The rationality of the AMR-1 mechanism and the reliability and accuracy of the control program are verified by the prototype test. The improvement optimization is carried out through the test results.
【學(xué)位授予單位】：山東農(nóng)業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP242
本文編號：2133263
[Abstract]:Agricultural robot is an important direction in the field of agricultural engineering science. It belongs to the multi-disciplinary integration, comprehensive, is in the vigorous development and progress of high-tech. The development of facility agriculture has greatly promoted the development of intelligent agricultural machinery. Agricultural robots have gradually become the main direction of agricultural intelligent machinery. Instead of laborers, they are responsible for the production and management of agricultural products, and improve labor productivity and the quality of agricultural products. Gradually become the current international agricultural engineering development trend. The research is supported by the National Natural Fund project, "Generalized Dynamics and Real time Control of underactuated wheeled Mobile Agricultural Robot". The main research contents of this paper are as follows: referring to a large number of domestic and foreign related literature, formulating the overall research plan, determining the research technical route, designing the mechanical hardware system of the underactuated wheeled mobile agricultural robot. The robot body is composed of a wheeled mobile platform and a forward 6-DOF manipulator. The function extension and practical application can be realized by changing the end actuators (picking hand, gripper, sprinkler, weeding cutter, etc.). The wheeled mobile platform is mainly composed of frame, rear wheel drive mechanism, front wheel steering mechanism; end actuator is flexible combination according to actual operation requirements; rear wheel drive mechanism adopts chain drive to ensure the carrying capacity of car body. The front wheel steering mechanism and the mechanical arm chassis steering mechanism adopt synchronous belt transmission to ensure the steering accuracy is 6 degrees of freedom. The manipulator consists of three macro joints of waist, shoulder and elbow and 3 rotating microjoints. The servo motor series reducer acquires enough torque to drive the manipulator rotation to achieve the desired speed and the direction moves along the planned trajectory. Based on the Piper rule, a six-degree-of-freedom series manipulator model of underactuated wheeled agricultural robot is established. The position and orientation of the end actuator relative to the base coordinate system are described by D-H parameters. The forward and inverse kinematics equation of 6-DOF series manipulator in D-H coordinate system is established, and the symbolic solution is solved by Mathmatica software. The principle of selecting optimal solution of inverse solution is put forward, and the obstacle avoidance of manipulator is simulated by Robotics toolbox in MATLAB environment. The correctness of forward and inverse kinematics analysis and the rationality of mechanism design are verified. The robot control system with STM32 as the core is designed. The pid algorithm is used to realize the robot working in the speed, position and torque mode by using the PWM direction control mode. The control program of the lower computer based on the pid algorithm is programmed. After 3D solid modeling was completed in Solidworks, the simulation of torque, velocity and angular velocity of underactuated wheeled agricultural robot was carried out in Adams environment, and the special function simulation of picking and harvesting was completed. The trajectory tracking control of robot is realized by using pid algorithm through Adams and MATLAB simulation. Based on the above research, the first prototype AMR-1 of underactuated wheeled agricultural robot is developed. The rationality of the AMR-1 mechanism and the reliability and accuracy of the control program are verified by the prototype test. The improvement optimization is carried out through the test results.
【學(xué)位授予單位】：山東農(nóng)業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP242
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