【摘要】：在移動(dòng)機(jī)器人中,最常見的兩類機(jī)器人是輪式機(jī)器人和腿式機(jī)器人。輪式機(jī)器人是應(yīng)用范圍最廣,在平面上可靠性最高的機(jī)器人,缺點(diǎn)是對地面環(huán)境的適應(yīng)力差,不能應(yīng)用于不平整地形。相對于輪式機(jī)器人,腿式機(jī)器人的足點(diǎn)分布更加靈活,所以可以適應(yīng)更復(fù)雜的環(huán)境,可以在沙地、草地等不平整地形穩(wěn)定的行走,缺點(diǎn)是能量利用率低,速度緩慢。為了使機(jī)器人同時(shí)擁有腿式機(jī)器人對地面適應(yīng)力強(qiáng)和輪式機(jī)器人在平面上運(yùn)行速度快、能量消耗低的優(yōu)點(diǎn),本文設(shè)計(jì)了混合運(yùn)動(dòng)模式的輪腿式六足機(jī)器人。本文搭建了被動(dòng)輪與腿融合的輪腿式六足機(jī)器人,分別對擺動(dòng)腿和支撐腿進(jìn)行了運(yùn)動(dòng)學(xué)分析。并利用多目標(biāo)粒子群算法,以最大步距和最大步高為目標(biāo),優(yōu)化了機(jī)器人的初始位置,使機(jī)器人的運(yùn)動(dòng)性能可以兼顧最大步高和最大步距兩個(gè)因素。設(shè)計(jì)了基于正弦線的足端軌跡和用于行走的步態(tài)規(guī)劃方法,并對前進(jìn)三足步態(tài)和原地旋轉(zhuǎn)三足步態(tài)做了具體分析。同時(shí)依據(jù)輪滑原理,設(shè)計(jì)了用于機(jī)器人滑行的步態(tài),并對規(guī)劃的參數(shù)進(jìn)行了優(yōu)化。在基于ROS的Gazebo仿真平臺(tái)下,對所設(shè)計(jì)的機(jī)器人進(jìn)行建模,并對設(shè)計(jì)的步態(tài)進(jìn)行仿真驗(yàn)證。實(shí)驗(yàn)結(jié)果表明,機(jī)器人可以成功的執(zhí)行前進(jìn)步行和前進(jìn)滑行步態(tài),關(guān)節(jié)角度光滑無突變。為了對機(jī)器人進(jìn)行方向控制,本文基于多傳感器的信息融合解算了機(jī)器人的姿態(tài)角。利用啟發(fā)式漂移消減法(HDR)對陀螺儀的輸出信號濾波,得到了比較準(zhǔn)確的機(jī)體角速度值。分別利用陀螺儀和磁力計(jì)配合加速度計(jì)解算機(jī)器人的姿態(tài)角,然后應(yīng)用卡爾曼濾波算法,融合陀螺儀動(dòng)態(tài)性能好和磁力計(jì)靜態(tài)性能好的特點(diǎn),解算出了準(zhǔn)確的機(jī)器人姿態(tài)角。搭建物理實(shí)驗(yàn)平臺(tái),應(yīng)用NDI光學(xué)定位系統(tǒng)測取機(jī)器人的位置信息。利用搭建的姿態(tài)解算模塊,測量機(jī)器人的方向角。在搭建的實(shí)體樣機(jī)上進(jìn)行物理實(shí)驗(yàn),可以成功執(zhí)行前進(jìn)步行、前進(jìn)滑行、原地旋轉(zhuǎn)步行、原地旋轉(zhuǎn)滑行步態(tài),達(dá)到了預(yù)期的效果。
[Abstract]:Among mobile robots, the two most common robots are wheeled robots and legged robots. Wheeled robot is the most widely used robot with the highest reliability on the plane. Its shortcoming is that it can not be applied to uneven terrain because of its poor adaptability to the ground environment. Compared with wheeled robots, legged robots are more flexible in the distribution of foot points, so they can adapt to more complex environment and walk stably in sandy land, grassland and other uneven terrain. The disadvantages are low energy utilization ratio and slow speed. In order to make the robot have the advantages of high adaptability to the ground and high speed and low energy consumption of the wheeled robot on the plane, a wheel-legged six-legged robot with mixed motion mode is designed in this paper. In this paper, a wheel-leg six-legged robot with the fusion of passive wheel and leg is built, and the kinematics analysis of swing leg and supporting leg is carried out respectively. Based on the multi-objective particle swarm optimization algorithm, the initial position of the robot is optimized by taking the maximum step distance and the maximum step height as the target, so that both the maximum step height and the maximum step distance can be taken into account in the motion performance of the robot. The foot trajectory based on sinusoidal line and the gait planning method for walking are designed, and the forward tripodal gait and the in-situ rotating tripodal gait are analyzed in detail. At the same time, according to the roller skating principle, the gait used for robot gliding is designed, and the planning parameters are optimized. In the Gazebo simulation platform based on ROS, the robot is modeled and the gait is simulated. The experimental results show that the robot can successfully perform forward walking and forward sliding gait, and the joint angle is smooth without mutation. In order to control the direction of the robot, the attitude angle of the robot is calculated based on multi-sensor information fusion. The output signal of gyroscope is filtered by heuristic drift subtractive method (HDR). The attitude angle of the robot is calculated by using gyroscopes and magnetometers with accelerometers respectively. Then Kalman filtering algorithm is applied to combine the characteristics of gyroscopes with good dynamic performance and static performance of magnetometers to solve the accurate attitude angle of the robot. The physical experiment platform is built, and the position information of robot is measured by NDI optical positioning system. The orientation angle of the robot is measured by using the constructed attitude solution module. The physical experiments are carried out on the physical prototype, which can successfully execute forward walking, forward gliding, in-situ rotation walking, and in-situ rotation taxiing gait, which achieves the desired effect.
【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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