基于多運動步態(tài)的蛇形機器人設計與研究
發(fā)布時間：2019-05-20 05:31
【摘要】：近年來我國地震、火災等災害頻繁發(fā)生,嚴重危及到人民的生命和財產(chǎn)安全。由于電纜檢測、橋梁檢測等高空作業(yè)直接奪走救援人員生命的案例時有發(fā)生,讓人感到悲痛與惋惜。因此研制出一種能夠代替或輔助人類完成危險作業(yè)的機器人很有必要。仿生機器人是對自然界生物的結構和行為進行模仿,并將其某些特征應用在機器人的設計中,從而研制出具有類似生物外形或機能的機器人系統(tǒng)。近年來仿生機器人的研究十分流行,且逐漸向搶險救災、管道檢測、醫(yī)學治療、太空探索等多個方向發(fā)展。仿生機器人主要包括多足機器人、飛行機器人以及蛇形機器人等等,蛇形機器人因其身體細長、運動步態(tài)穩(wěn)定等優(yōu)勢被應用在許多不適宜人類工作的復雜領域。基于此背景,本文開展了一種基于多運動步態(tài)的蛇形機器人設計與研究,該研究對今后進行搶險救援、高空作業(yè)有著重要意義。論文主要從蛇形機器人的機械系統(tǒng)設計、控制系統(tǒng)設計、運動學建模與控制函數(shù)分析、運動步態(tài)仿真和樣機測試四個方面進行了研究。論文的主要內容和取得的成果如下:(1)蛇形機器人的機械系統(tǒng)設計。設計時研究了生物蛇的結構和運動步態(tài),依據(jù)舵機尺寸和外部硬件需求,運用SolidWorks軟件對連桿關節(jié)、蛇頭蛇尾進行了設計。設計的機器人有連桿關節(jié)緊湊、整機體積小、內部空間大等優(yōu)點,前后關節(jié)之間采用正交連接方式以實現(xiàn)蛇形機器人蜿蜒、蠕動和翻滾等多步態(tài)運動。(2)蛇形機器人的控制系統(tǒng)設計�？刂葡到y(tǒng)主要包括了主控系統(tǒng)、從控系統(tǒng)和監(jiān)控系統(tǒng),根據(jù)需求對主從控系統(tǒng)的硬件電路和監(jiān)控系統(tǒng)軟件分別進行了設計。從控系統(tǒng)與主控系統(tǒng)之間通過Zigbee組網(wǎng)技術完成了數(shù)據(jù)通信,主控系統(tǒng)集成的多傳感器和攝像頭能夠完成環(huán)境溫濕度、氣壓、CO有害氣體、熱源檢測以及視頻采集,并通過藍牙模塊和WiFi通信實現(xiàn)了數(shù)據(jù)信息在監(jiān)控系統(tǒng)上的在線顯示。(3)蛇形機器人運動學建模及控制函數(shù)分析。本文采用D-H分析法對蛇形機器人進行了運動學建模,研究了機器人末端位姿與各關節(jié)之間的坐標關系。機器人控制函數(shù)的研究則是基于Serpenoid控制函數(shù)和基于中樞模式發(fā)生器(CPG)模型進行了深入探討和分析。其中對Serpenoid控制函數(shù)的參數(shù)進行了分析,通過曲線擬合得到蛇形機器人運動形狀函數(shù)與關節(jié)角度函數(shù)之間的關系;通過對CPG模型建模和參數(shù)分析得到可靠的機器人運動控制信號。二者為蛇形機器人的實際控制奠定了理論基礎。(4)蛇形機器人的步態(tài)仿真和樣機測試。本文基于ADAMS和MATLAB軟件對蛇形機器人的Serpenoid控制函數(shù)和CPG模型兩種方式進行了步態(tài)仿真。其中,詳細討論了Serpenoid控制函數(shù)中各參數(shù)對蛇形機器人蜿蜒、蠕動、翻滾等步態(tài)的位移產(chǎn)生的影響,得出穩(wěn)定步態(tài)下對應的較優(yōu)參數(shù),并對關節(jié)的角度和力矩變化進行了分析。另外建立了ADAMS與MATLAB/Simulink聯(lián)合仿真接口,完成了用CPG模型控制蛇形機器人。最后對蛇形機器人的樣機做了步態(tài)測試,測試結果顯示良好�？偟膩碚f,本文設計的蛇形機器人步態(tài)穩(wěn)定可靠、功能齊全,通過對系統(tǒng)的不斷改進可將機器人應用于管道檢測、高空作業(yè)以及災害救援等復雜環(huán)境之中。
[Abstract]:In recent years, the frequent occurrence of earthquakes, fire and other disasters in our country has seriously endangered the lives and property safety of the people. As cable detection, bridge detection and other high-altitude work directly take the lives of rescue workers from time to time, it is sad and sorry. Therefore, it is necessary to develop a robot that can replace or assist a human to complete a dangerous operation. Bionic robot is a kind of robot system with similar biological shape or function. In recent years, the research of the bionic robot is very popular, and has gradually developed in several directions, such as rescue, disaster relief, pipeline detection, medical treatment, space exploration and so on. The bionic robot mainly includes a multi-foot robot, a flying robot, a snake-like robot, and the like, and the snake-like robot is applied to many complex fields which are not suitable for human work because of the advantages of long body, stable movement and gait and the like. Based on this background, this paper has carried out the design and research of a snake-like robot based on the multi-motion gait, which is of great significance to the rescue and high-altitude operation in the future. The paper mainly studies the mechanical system design, the control system design, the kinematic modeling and control function analysis, the motion gait simulation and the prototype test of the snake-like robot. The main contents and achievements of the paper are as follows: (1) The mechanical system design of the snake-like robot. The structure and the movement gait of the snake were studied in the design. Based on the size of the steering gear and the demand of the external hardware, the software of SolidWorks was used to design the joint of the connecting rod and the snakehead of the snake. The designed robot has the advantages of compact connecting rod joint, small size of the whole machine, large internal space and the like, and the front and back joints adopt the orthogonal connection mode to realize the multi-gait movement such as winding, creeping and rolling of the snake-like robot. (2) The design of the control system of the snake-like robot. The control system mainly includes the main control system, from the control system and the monitoring system, the hardware circuit and the monitoring system software of the master-slave control system are designed according to the requirement. the data communication is completed through the Zigbee networking technology between the control system and the main control system, the multi-sensor and the camera of the main control system can finish the environment temperature and humidity, the air pressure, the CO harmful gas, the heat source detection and the video acquisition, And the on-line display of the data information on the monitoring system is realized through the Bluetooth module and the WiFi communication. (3) The kinematic modeling and control function analysis of the snake-like robot. In this paper, the kinematic modeling of the snake-like robot is carried out by the D-H analysis method, and the coordinate relation between the end pose and each joint of the robot is studied. The study of the robot control function is based on the Serpenoid control function and the central mode generator (CPG) model. The parameters of the Serpenoid control function are analyzed, the relation between the shape function of the snake-like robot and the joint angle function is obtained by curve fitting, and a reliable robot motion control signal is obtained through modeling and parameter analysis of the CPG model. The two provide a theoretical basis for the actual control of the snake-like robot. (4) The gait simulation and the prototype test of the snake-like robot. In this paper, the gait simulation of the Serpenoid control function and the CPG model of the snake-like robot is carried out based on the ADAMS and the MATLAB software. In this paper, the influence of each parameter in the Serpenoid control function on the meandering, creep and rolling of the snake-like robot is discussed in detail, and the corresponding optimal parameters under the steady gait are obtained, and the angle and moment variation of the joint are analyzed. In addition, the simulation interface of ADAMS and MATLAB/ Simulink is established, and the snake-like robot is controlled by the CPG model. At last, the model of the snake-like robot was tested, and the result of the test was good. In general, the snake-like robot designed in this paper is stable and reliable, and can be applied to the complex environment such as pipeline detection, high-altitude operation and disaster relief through the continuous improvement of the system.
【學位授予單位】：成都理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242
本文編號：2481390
[Abstract]:In recent years, the frequent occurrence of earthquakes, fire and other disasters in our country has seriously endangered the lives and property safety of the people. As cable detection, bridge detection and other high-altitude work directly take the lives of rescue workers from time to time, it is sad and sorry. Therefore, it is necessary to develop a robot that can replace or assist a human to complete a dangerous operation. Bionic robot is a kind of robot system with similar biological shape or function. In recent years, the research of the bionic robot is very popular, and has gradually developed in several directions, such as rescue, disaster relief, pipeline detection, medical treatment, space exploration and so on. The bionic robot mainly includes a multi-foot robot, a flying robot, a snake-like robot, and the like, and the snake-like robot is applied to many complex fields which are not suitable for human work because of the advantages of long body, stable movement and gait and the like. Based on this background, this paper has carried out the design and research of a snake-like robot based on the multi-motion gait, which is of great significance to the rescue and high-altitude operation in the future. The paper mainly studies the mechanical system design, the control system design, the kinematic modeling and control function analysis, the motion gait simulation and the prototype test of the snake-like robot. The main contents and achievements of the paper are as follows: (1) The mechanical system design of the snake-like robot. The structure and the movement gait of the snake were studied in the design. Based on the size of the steering gear and the demand of the external hardware, the software of SolidWorks was used to design the joint of the connecting rod and the snakehead of the snake. The designed robot has the advantages of compact connecting rod joint, small size of the whole machine, large internal space and the like, and the front and back joints adopt the orthogonal connection mode to realize the multi-gait movement such as winding, creeping and rolling of the snake-like robot. (2) The design of the control system of the snake-like robot. The control system mainly includes the main control system, from the control system and the monitoring system, the hardware circuit and the monitoring system software of the master-slave control system are designed according to the requirement. the data communication is completed through the Zigbee networking technology between the control system and the main control system, the multi-sensor and the camera of the main control system can finish the environment temperature and humidity, the air pressure, the CO harmful gas, the heat source detection and the video acquisition, And the on-line display of the data information on the monitoring system is realized through the Bluetooth module and the WiFi communication. (3) The kinematic modeling and control function analysis of the snake-like robot. In this paper, the kinematic modeling of the snake-like robot is carried out by the D-H analysis method, and the coordinate relation between the end pose and each joint of the robot is studied. The study of the robot control function is based on the Serpenoid control function and the central mode generator (CPG) model. The parameters of the Serpenoid control function are analyzed, the relation between the shape function of the snake-like robot and the joint angle function is obtained by curve fitting, and a reliable robot motion control signal is obtained through modeling and parameter analysis of the CPG model. The two provide a theoretical basis for the actual control of the snake-like robot. (4) The gait simulation and the prototype test of the snake-like robot. In this paper, the gait simulation of the Serpenoid control function and the CPG model of the snake-like robot is carried out based on the ADAMS and the MATLAB software. In this paper, the influence of each parameter in the Serpenoid control function on the meandering, creep and rolling of the snake-like robot is discussed in detail, and the corresponding optimal parameters under the steady gait are obtained, and the angle and moment variation of the joint are analyzed. In addition, the simulation interface of ADAMS and MATLAB/ Simulink is established, and the snake-like robot is controlled by the CPG model. At last, the model of the snake-like robot was tested, and the result of the test was good. In general, the snake-like robot designed in this paper is stable and reliable, and can be applied to the complex environment such as pipeline detection, high-altitude operation and disaster relief through the continuous improvement of the system.
【學位授予單位】：成都理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242
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