【摘要】：仿蛇搜救機器人具備多種運動模態(tài),其多地形適應(yīng)能力優(yōu)于履帶式、足式、飛行搜救機器人,在災(zāi)難搜救工作中具有廣闊應(yīng)用前景。關(guān)節(jié)機構(gòu)和運動模態(tài)一直是仿蛇機器人研究工作中的熱點和難點。然而目前對關(guān)節(jié)機構(gòu)的研究僅停留在活動度和工作空間層面,對運動模態(tài)的研究注重穩(wěn)定性忽略了機動性。針對關(guān)節(jié)機構(gòu)性能研究不深入、運動模態(tài)缺乏機動性問題,本文以采用仿生并聯(lián)關(guān)節(jié)和正交主動輪的仿蛇搜救機器人為研究對象,對其關(guān)節(jié)性能和運動模態(tài)進行深入研究,主要內(nèi)容為：1、從生物蛇運動機理出發(fā),研究一種用于仿蛇搜救機器人的仿生并聯(lián)關(guān)節(jié)。采用旋量系與互易旋量系理論,對仿生并聯(lián)關(guān)節(jié)運動約束特點進行分析。結(jié)合旋量代數(shù)結(jié)構(gòu)與牛頓-歐拉法建立仿生并聯(lián)關(guān)節(jié)動力學模型,在此基礎(chǔ)上研究運動過程中各運動副和構(gòu)件受力特性。2、針對仿生并聯(lián)關(guān)節(jié)少自由度和支鏈變形特點,研究其在可達工作空間內(nèi)靈巧性和靜剛度分布。在運動學分析基礎(chǔ)上以驅(qū)動雅可比矩陣條件數(shù)構(gòu)建仿生并聯(lián)關(guān)節(jié)靈巧性指標。考慮關(guān)節(jié)中約束支鏈彎曲變形和驅(qū)動支鏈彈性變形,利用變形協(xié)調(diào)條件和虛功原理建立仿生并聯(lián)關(guān)節(jié)剛度模型,然后分析線剛度和角剛度分布規(guī)律。3、針對仿蛇搜救機器人蜿蜒運動在含有斜坡和柱體的地形中運動效率低問題,結(jié)合正交主動輪機動性和仿生并聯(lián)關(guān)節(jié)自鎖特性,拓展研究新型輪式運動模態(tài)�；谛坷碚摻⒎律咚丫葯C器人動力學模型,通過分析轉(zhuǎn)彎、柱體爬升運動模態(tài)中的運動約束特性,簡化適用于控制的動力學方程。
[Abstract]:Snake imitation search and rescue robot has a variety of motion modes, and its multi-terrain adaptability is superior to that of crawler, foot and flight search and rescue robot, so it has a broad application prospect in disaster search and rescue work. Joint mechanism and motion mode are always the hot and difficult points in the research of snake-like robot. However, the research of joint mechanism only focuses on the level of motion and workspace, and the study of motion mode pays attention to stability and neglects mobility. Aiming at the problem that the research on the performance of joint mechanism is not deep and the motion mode is lack of mobility, this paper studies the joint performance and motion mode of the snake imitation robot which adopts the bionic parallel joint and orthogonal active wheel as the research object. The main content is: 1. Based on the motion mechanism of biological snake, a kind of bionic parallel joint for snake imitation search and rescue robot is studied. Based on the theory of spinor system and reciprocal spinor system, the kinematic constraints of bionic parallel joints are analyzed. Combined with spinor algebraic structure and Newton-Euler method, the dynamics model of bionic parallel joint is established. Based on this, the mechanical characteristics of each pair and component in the course of motion are studied. The characteristics of less degree of freedom and branch chain deformation of bionic parallel joint are discussed. The dexterity and static stiffness distribution in reachable workspace are studied. On the basis of kinematics analysis, the dexterity index of bionic parallel joints is constructed by using the condition number of driving Jacobian matrix. Considering the bending deformation of the constrained branch chain and the elastic deformation of the driving branch chain in the joint, the stiffness model of the bionic parallel joint is established by using the deformation coordination condition and the principle of virtual work. Then, the distribution of linear and angular stiffness is analyzed. 3. Aiming at the problem of low efficiency in the terrain with slope and cylinder, the paper combines the mobility of orthogonal active wheel and the self-locking characteristic of bionic parallel joint. Expand the research on the new wheel motion mode. Based on the spinor theory, the dynamic model of a snake imitation search and rescue robot is established. By analyzing the kinematic constraints in the mode of turning and climbing of the cylinder, the dynamic equations suitable for the control are simplified.
【學位授予單位】：北京化工大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：TP242

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