【摘要】：連續(xù)型機(jī)器人是依據(jù)仿生學(xué)原理開發(fā)的新型機(jī)器人,在空間探測(cè)、核電維修、緊急救援等方面具有廣闊的應(yīng)用前景,是目前機(jī)器人研究領(lǐng)域的熱點(diǎn)。機(jī)器人依靠仿生皮膚和仿生軀干實(shí)現(xiàn)運(yùn)動(dòng),對(duì)于含有剛性脊柱的連續(xù)型機(jī)器人,其運(yùn)動(dòng)能力主要依靠仿生軀干提供。本文依據(jù)生物軀干的超冗余特性和生物彈性結(jié)構(gòu)開發(fā)出了可作為連續(xù)型機(jī)器人軀干的新型仿生機(jī)構(gòu),并通過(guò)動(dòng)力學(xué)優(yōu)化和控制率設(shè)計(jì),保證了其優(yōu)異的運(yùn)動(dòng)特性。利用仿生設(shè)計(jì)方法,該仿生機(jī)構(gòu)采用繩驅(qū)超冗余度機(jī)構(gòu),由六個(gè)串聯(lián)的萬(wàn)向節(jié)和六組并聯(lián)彈簧組成,共12個(gè)自由度,整個(gè)模型由18根繩線驅(qū)動(dòng)。在動(dòng)力學(xué)模型中繩線和彈簧簡(jiǎn)化為外界作用力,利用D-H參數(shù)描述機(jī)構(gòu)的位姿,通過(guò)力系簡(jiǎn)化減少作用力數(shù)目,并求得繩線和彈簧作用力與等效關(guān)節(jié)力矩之間的雅可比矩陣。依據(jù)拉格朗日方程建立該機(jī)構(gòu)的動(dòng)力學(xué)方程,并分析其動(dòng)力學(xué)特性,驗(yàn)證了機(jī)構(gòu)設(shè)計(jì)的合理性。仿生機(jī)構(gòu)的超冗余特性和冗余驅(qū)動(dòng)特性,決定了其運(yùn)動(dòng)速度從操作空間向關(guān)節(jié)空間、驅(qū)動(dòng)力從關(guān)節(jié)空間向驅(qū)動(dòng)空間轉(zhuǎn)換時(shí)均存在多解的情況,因此運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)層面存在明顯的可優(yōu)化特性。使用待優(yōu)化目標(biāo),利用梯度法和零空間法可以選取合理的雅可比矩陣零空間向量,從而實(shí)現(xiàn)機(jī)構(gòu)在運(yùn)動(dòng)過(guò)程中的速度優(yōu)化和驅(qū)動(dòng)力優(yōu)化。由于存在兩組欠定關(guān)系,該系統(tǒng)的可優(yōu)化能力較強(qiáng),可以實(shí)現(xiàn)多目標(biāo)優(yōu)化。控制系統(tǒng)用于維持機(jī)構(gòu)動(dòng)作過(guò)程的穩(wěn)定性,現(xiàn)階段機(jī)器人普遍使用的控制方式為運(yùn)動(dòng)PD控制,不利于復(fù)雜機(jī)構(gòu)的運(yùn)動(dòng)實(shí)現(xiàn)。本文利用計(jì)算力矩控制和動(dòng)力學(xué)優(yōu)化方法設(shè)計(jì)出了針對(duì)該連連續(xù)型冗余自由度機(jī)器人的優(yōu)化控制率,并利用李雅普諾夫函數(shù)證明了其穩(wěn)定性。仿真驗(yàn)證表明,相比于運(yùn)動(dòng)PD控制,工作于該控制率下的系統(tǒng)具有較強(qiáng)的穩(wěn)定性和信號(hào)跟蹤能力,且能夠處理驅(qū)動(dòng)力超限的問(wèn)題。本文利用動(dòng)力學(xué)模型和優(yōu)化控制率編寫控制程序,通過(guò)SIMULINK和ADAMS進(jìn)行聯(lián)合仿真驗(yàn)證了該機(jī)構(gòu)對(duì)于生物運(yùn)動(dòng)的模擬能力。仿真結(jié)果證明該機(jī)構(gòu)能夠很好地模擬機(jī)器人的平面運(yùn)動(dòng)和三維空間運(yùn)動(dòng),同時(shí)具有極強(qiáng)的動(dòng)力學(xué)優(yōu)化能力,適合作為連續(xù)型機(jī)器人的仿生脊柱。
[Abstract]:Continuous robot is a new kind of robot developed according to the principle of bionics. It has a broad application prospect in space exploration, nuclear power maintenance, emergency rescue and so on. It is a hot spot in the field of robot research at present. Robots rely on bionic skin and bionic torso to achieve motion. For continuous robots with rigid spine, their motion ability is mainly provided by bionic torso. In this paper, a new bionic mechanism which can be used as the torso of continuous robot is developed according to the super-redundancy characteristics of the biological trunk and the biological elastic structure. The excellent kinematic characteristics are ensured by dynamic optimization and control rate design. By using the bionic design method, the bionic mechanism is composed of six universal joints in series and six parallel springs, with 12 degrees of freedom. The whole model is driven by 18 rope lines. In the dynamic model, the rope line and spring are simplified as external forces, the position and orientation of the mechanism are described by D-H parameters, the number of forces is reduced by simplifying the force system, and the Jacobian matrix between the rope line and spring force and the equivalent joint torque is obtained. Based on the Lagrange equation, the dynamic equation of the mechanism is established, and its dynamic characteristics are analyzed. The rationality of the mechanism design is verified. The superredundancy and redundant driving characteristics of the bionic mechanism determine that there are multiple solutions when the motion speed changes from the operating space to the joint space, and the driving force changes from the joint space to the drive space. Therefore, kinematics and dynamics have obvious optimizable properties. Using the objective to be optimized, the gradient method and the zero space method can be used to select the reasonable Jacobian matrix null space vector, thus the velocity optimization and the driving force optimization of the mechanism in the course of motion can be realized. Due to the existence of two groups of undetermined relationships, the system has a strong ability to optimize and can realize multi-objective optimization. The control system is used to maintain the stability of the mechanism action process. At present, the control mode commonly used in robot is motion PD control, which is not conducive to the movement realization of complex mechanism. In this paper, the optimal control rate for the continuous redundant robot is designed by using the method of calculating torque control and dynamic optimization, and its stability is proved by using Lyapunov function. The simulation results show that the system working at this control rate has strong stability and signal tracking ability, and can deal with the problem of driving force exceeding the limit compared with the motion PD control. In this paper, the dynamic model and optimal control rate are used to compile the control program. The simulation results of SIMULINK and ADAMS show that the mechanism is capable of simulating biological motion. The simulation results show that the mechanism can well simulate the planar and three-dimensional motion of the robot, and has a strong dynamic optimization ability, which is suitable for the bionic spine of a continuous robot.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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