【摘要】：在現(xiàn)代社會(huì),移動(dòng)機(jī)器人已被廣泛應(yīng)用于搜救、偵查、核輻射檢測(cè)等環(huán)境中,代替人類執(zhí)行困難、復(fù)雜和危險(xiǎn)的任務(wù)。相比于其他運(yùn)動(dòng)形式的移動(dòng)機(jī)器人,多足機(jī)器人具有更好的環(huán)境適應(yīng)性和越障能力,得到了廣泛的關(guān)注,典型的代表有六足機(jī)器人和四足機(jī)器人�，F(xiàn)有的六足機(jī)器人基本不具備作業(yè)能力,或是通過(guò)載臂完成作業(yè)任務(wù),沒(méi)有充分利用自身冗余的結(jié)構(gòu)和腿部的多自由度。針對(duì)這一問(wèn)題,本文研制了一種具有六足-四足雙運(yùn)動(dòng)模式的,能完成一定作業(yè)任務(wù)的移動(dòng)機(jī)器人系統(tǒng),并開(kāi)展了實(shí)驗(yàn)研究。針對(duì)復(fù)雜環(huán)境下的作業(yè)任務(wù)需求,確定了機(jī)器人系統(tǒng)的功能和性能要求,基于此設(shè)計(jì)了一種六足-四足移動(dòng)機(jī)器人系統(tǒng)的結(jié)構(gòu),包括分段式軀干、變換機(jī)構(gòu)、模塊化腿部和四自由度尾部。建立了各部分的運(yùn)動(dòng)學(xué)模型,進(jìn)行了運(yùn)動(dòng)學(xué)分析,并規(guī)劃了兩種運(yùn)動(dòng)模式下機(jī)器人的典型運(yùn)動(dòng)步態(tài)和避障軌跡。為分析機(jī)器人的穩(wěn)定性,并對(duì)穩(wěn)定運(yùn)動(dòng)規(guī)劃提供理論依據(jù),對(duì)機(jī)器人的質(zhì)量分布進(jìn)行了簡(jiǎn)化,推導(dǎo)了系統(tǒng)重心表達(dá)式,提出了以壓力中心法為依據(jù)的穩(wěn)定性判據(jù),得出了穩(wěn)定裕度方程。進(jìn)一步地,分析了尾部機(jī)構(gòu)對(duì)機(jī)器人系統(tǒng)穩(wěn)定性的調(diào)節(jié)作用,并據(jù)此提出了基于尾部自調(diào)節(jié)的穩(wěn)定步態(tài)規(guī)劃方法,即根據(jù)尾部的調(diào)整來(lái)平衡多足運(yùn)動(dòng)以及雙足操作過(guò)程產(chǎn)生的對(duì)系統(tǒng)質(zhì)心偏移的影響,保證了系統(tǒng)的穩(wěn)定。本文還開(kāi)發(fā)以STM32系列芯片為控制核心的嵌入式控制系統(tǒng),編寫(xiě)了機(jī)器人的運(yùn)動(dòng)控制程序和上位機(jī)軟件,實(shí)現(xiàn)了上位機(jī)與機(jī)器人的無(wú)線通信。最后,完成了六足-四足移動(dòng)機(jī)器人系統(tǒng)樣機(jī)的制作與調(diào)試,并開(kāi)展了一系列實(shí)驗(yàn),包括基本運(yùn)動(dòng)實(shí)驗(yàn)、樓梯攀爬實(shí)驗(yàn)和貨物搬運(yùn)實(shí)驗(yàn)。結(jié)果表明,所設(shè)計(jì)的機(jī)器人具有較好的運(yùn)動(dòng)能力和作業(yè)能力。
[Abstract]:In modern society, mobile robots have been widely used in search and rescue, detection, nuclear radiation detection and other environments, instead of human performing difficult, complex and dangerous tasks. Compared with other mobile robots, multi-legged robots have better environmental adaptability and obstacle-crossing ability, and have received extensive attention, typical of which are hexapod robots and quadruped robots. The existing hexapod robots basically do not have the working ability, or complete the task by carrying the arm, and do not make full use of their redundant structure and the multi-degree of freedom of the legs. In order to solve this problem, a mobile robot system with hexapod-quadruped biped motion mode and can complete certain tasks is developed in this paper, and the experimental research is carried out. According to the requirements of task in complex environment, the function and performance requirements of robot system are determined. Based on this, a structure of hexapod-quadruped mobile robot system is designed, which includes segmented torso, transformation mechanism, modular leg and four-degree-of-freedom tail. The kinematic models of each part are established, the kinematic analysis is carried out, and the typical motion gait and obstacle avoidance trajectory of the robot in the two motion modes are planned. In order to analyze the stability of the robot and provide the theoretical basis for the stable motion planning, the mass distribution of the robot is simplified, the expression of the center of gravity of the system is derived, the stability criterion based on the pressure center method is put forward, and the stability margin equation is obtained. Furthermore, the effect of tail mechanism on the stability of robot system is analyzed, and a stable gait planning method based on tail self-adjustment is proposed, that is, the influence of multi-foot motion and bipedal operation process on the centrocenter deviation of the system is balanced according to the adjustment of tail, which ensures the stability of the system. This paper also develops an embedded control system with STM32 series chip as the control core, compiles the motion control program and upper computer software of the robot, and realizes the wireless communication between the upper computer and the robot. Finally, the prototype of hexapod-quadruped mobile robot system is made and debugged, and a series of experiments are carried out, including basic motion experiment, staircase climbing experiment and cargo handling experiment. The results show that the designed robot has good motion ability and operation ability.
【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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本文編號(hào)：2505097