【摘要】：本文針對工作空間狹窄、地面不平等復(fù)雜作業(yè)環(huán)境,設(shè)計(jì)開發(fā)了基于串聯(lián)式安裝的MY3輪全方位移動(dòng)機(jī)器人,研究了其全方位運(yùn)動(dòng)特性。根據(jù)其串聯(lián)輪式結(jié)構(gòu),分析了其運(yùn)動(dòng)時(shí)輪子接地特點(diǎn),并根據(jù)分析結(jié)果建立了連續(xù)化模型,通過仿真對模型進(jìn)行驗(yàn)證。在連續(xù)化建模基礎(chǔ)上,研究了MY3輪的驅(qū)動(dòng)干涉情況,通過運(yùn)動(dòng)軌跡優(yōu)化設(shè)計(jì)避免驅(qū)動(dòng)干涉,提高了運(yùn)動(dòng)精度。對MY3輪的全方位移動(dòng)機(jī)器人進(jìn)行研究,介紹了實(shí)驗(yàn)室自主開發(fā)的MY系列輪開發(fā)設(shè)計(jì)過程及移動(dòng)機(jī)器人的平臺搭建。并分析了該移動(dòng)機(jī)器人的運(yùn)動(dòng)特點(diǎn),根據(jù)約束關(guān)系建立了機(jī)器人的運(yùn)動(dòng)學(xué)方程和動(dòng)力學(xué)方程,研究了串聯(lián)機(jī)器人的接地半徑的變化情況以及機(jī)器人運(yùn)動(dòng)時(shí)輪子轉(zhuǎn)換情況。針對串聯(lián)機(jī)器人運(yùn)動(dòng)時(shí)接地半徑不連續(xù)的問題,提出采用正弦曲線和多項(xiàng)式曲線擬合的方法,建立了機(jī)器人連續(xù)化運(yùn)動(dòng)學(xué)模型和動(dòng)力學(xué)模型。在連續(xù)化模型基礎(chǔ)上對其進(jìn)行圓形軌跡仿真,分析了不同曲線擬合方法的機(jī)器人位姿和速度變化情況,確定了兩種曲線擬合方式的優(yōu)勢�；跈C(jī)器人的驅(qū)動(dòng)力,對曲線擬合方法進(jìn)行優(yōu)化,研究了機(jī)器人所受的最大滾動(dòng)摩擦力,分析了機(jī)器人輪子運(yùn)動(dòng)過程中的所能達(dá)到的最大角加速度與曲線參數(shù)之間的關(guān)系,從而確定了最優(yōu)曲線參數(shù)。根據(jù)串聯(lián)式MY3的特有結(jié)構(gòu)分析了機(jī)器人運(yùn)動(dòng)時(shí)所產(chǎn)生的驅(qū)動(dòng)干涉問題,并建立了速度瞬心的危險(xiǎn)驅(qū)動(dòng)干涉區(qū)間。為了優(yōu)化機(jī)器人運(yùn)動(dòng)軌跡,分別從兩方面分析了不同影響因素與軌跡規(guī)劃的關(guān)系,一方面是軌跡半徑與運(yùn)動(dòng)誤差之間的關(guān)系;另一方面是軌跡周期與機(jī)器人自轉(zhuǎn)周期之間的關(guān)系。針對輪子驅(qū)動(dòng)干涉問題,在選取了最優(yōu)影響參數(shù)的基礎(chǔ)上,提出平移與自轉(zhuǎn)的方法實(shí)現(xiàn)力干涉的合理規(guī)避,以達(dá)到提高機(jī)器人運(yùn)動(dòng)精度的目的,并通過MATLAB仿真來驗(yàn)證軌跡規(guī)劃方法的正確性。
[Abstract]:In this paper, a MY3-wheeled omni-directional mobile robot based on serial installation is designed and developed, aiming at the narrow workspace and unequal working environment on the ground, and the omni-directional motion characteristics of MY3-wheeled mobile robot are studied. According to its series wheel structure, the characteristics of wheel earthing in motion are analyzed. According to the analysis results, a continuous model is established, and the model is verified by simulation. On the basis of continuous modeling, the driving interference of MY3 wheel is studied. The driving interference is avoided by optimizing the motion trajectory, and the motion precision is improved. In this paper, the omni-directional mobile robot of MY3 wheel is studied. The development and design process of MY series wheel developed independently in the laboratory and the platform construction of mobile robot are introduced. The kinematic and dynamic equations of the robot are established according to the constraint relationship. The variation of the grounding radius of the series robot and the transformation of the wheels during the robot's motion are studied. In order to solve the problem of discontinuity of grounding radius in series robot motion, a method of sine curve and polynomial curve fitting is proposed, and the continuous kinematics model and dynamics model of robot are established. On the basis of the continuous model, the circular trajectory simulation is carried out, and the robot posture and velocity changes of different curve fitting methods are analyzed, and the advantages of the two curve fitting methods are determined. Based on the driving force of the robot, the curve fitting method is optimized. The maximum rolling friction of the robot is studied, and the relationship between the maximum angular acceleration and the curve parameters in the process of the robot wheel movement is analyzed. The optimal curve parameters are determined. According to the special structure of series MY3, the problem of driving interference caused by robot motion is analyzed, and the dangerous driving interference interval of instantaneous center of velocity is established. In order to optimize the trajectory of the robot, the relationship between different influencing factors and trajectory planning is analyzed from two aspects, on the one hand, the relationship between the trajectory radius and the motion error is analyzed. On the other hand, it is the relationship between the trajectory period and the rotation period of the robot. Aiming at the problem of wheel-driven interference, on the basis of selecting the optimal influence parameters, this paper puts forward the method of translation and rotation to avoid the interference of real force reasonably, in order to improve the accuracy of robot motion. The correctness of the trajectory planning method is verified by MATLAB simulation.
【學(xué)位授予單位】：沈陽航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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