本文選題：酒店服務(wù)機(jī)器人 + 全向移動(dòng)��； 參考：《西南交通大學(xué)》2017年碩士論文

【摘要】：隨著科技的快速發(fā)展以及人們生活水平的不斷提高,服務(wù)機(jī)器人正逐步走進(jìn)人們的日常生活中,涉及醫(yī)療護(hù)理、智能清潔、娛樂教育、酒店服務(wù)等多個(gè)領(lǐng)域。通常,服務(wù)機(jī)器人的設(shè)計(jì)內(nèi)容主要涵蓋外觀造型、機(jī)械系統(tǒng)、硬件及軟件系統(tǒng)的設(shè)計(jì)。本文以低成本、低實(shí)現(xiàn)難度、較高可靠性為設(shè)計(jì)原則,根據(jù)酒店客房的實(shí)際應(yīng)用場景對(duì)服務(wù)機(jī)器人進(jìn)行了結(jié)構(gòu)設(shè)計(jì),并在此基礎(chǔ)之上對(duì)所研究的服務(wù)機(jī)器人進(jìn)行了運(yùn)動(dòng)控制研究。首先通過對(duì)國內(nèi)外服務(wù)機(jī)器人設(shè)計(jì)要點(diǎn)的分析和借鑒,基于標(biāo)準(zhǔn)化和模塊化的設(shè)計(jì)方法,利用Solidworks三維軟件完成了酒店服務(wù)機(jī)器人的機(jī)械結(jié)構(gòu)設(shè)計(jì)。在具體的結(jié)構(gòu)設(shè)計(jì)上,通過對(duì)多種機(jī)器人移動(dòng)底盤結(jié)構(gòu)的適用性進(jìn)行了對(duì)比與分析,選擇將三輪全向移動(dòng)底盤結(jié)構(gòu)作為酒店服務(wù)機(jī)器人的移動(dòng)機(jī)構(gòu);針對(duì)酒店服務(wù)機(jī)器人功能及外形需求,對(duì)服務(wù)機(jī)器人身體框架結(jié)構(gòu)及外觀造型進(jìn)行了設(shè)計(jì)。在此基礎(chǔ)上,對(duì)服務(wù)機(jī)器人的主要受力部件進(jìn)行了強(qiáng)度校核,并對(duì)服務(wù)機(jī)器人運(yùn)動(dòng)控制系統(tǒng)硬件選型、軟件設(shè)計(jì)進(jìn)行了分析說明。其次通過坐標(biāo)變換法和牛頓定律分別建立了酒店服務(wù)機(jī)器人的運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)模型,得到了服務(wù)機(jī)器人移動(dòng)底盤全向輪轉(zhuǎn)速與機(jī)器人移動(dòng)速度的關(guān)系、移動(dòng)底盤驅(qū)動(dòng)電機(jī)力矩和機(jī)器人移動(dòng)速度及加速度之間的關(guān)系,并對(duì)服務(wù)機(jī)器人在平面移動(dòng)過程中的基本運(yùn)動(dòng)特性進(jìn)行了分析研究。接著為了驗(yàn)證服務(wù)機(jī)器人結(jié)構(gòu)設(shè)計(jì)的合理性,利用ADAMS虛擬樣機(jī)仿真軟件建立了酒店服務(wù)機(jī)器人虛擬樣機(jī)模型,并依據(jù)實(shí)際情況創(chuàng)建了仿真環(huán)境,其中包含對(duì)服務(wù)機(jī)器人本體關(guān)鍵部件材料屬性以及接觸關(guān)系參數(shù)的選擇。然后,對(duì)建立的服務(wù)機(jī)器人虛擬樣機(jī)模型進(jìn)行了平直路面、斜坡等路況的運(yùn)動(dòng)仿真,并分析了服務(wù)機(jī)器人移動(dòng)速度及減震彈簧剛度大小對(duì)機(jī)器人移動(dòng)平穩(wěn)性的影響,為物理樣機(jī)的結(jié)構(gòu)設(shè)計(jì)提供了參考依據(jù)。在酒店服務(wù)機(jī)器人的運(yùn)動(dòng)控制方面,以所研究服務(wù)機(jī)器人的運(yùn)動(dòng)學(xué)模型為基礎(chǔ),研究了基于兩編碼器加單軸陀螺儀的室內(nèi)定位算法。然后在全局定位的基礎(chǔ)之上,重點(diǎn)研究了服務(wù)機(jī)器人的全局軌跡跟蹤控制問題,本文以該服務(wù)機(jī)器人位姿誤差運(yùn)動(dòng)學(xué)模型為研究對(duì)象,以線速度和角速度為控制輸入,設(shè)計(jì)了基于Backstepping算法的全局軌跡跟蹤控制器,并通過MATLAB編程對(duì)直線、圓周兩種軌跡跟蹤進(jìn)行了仿真實(shí)驗(yàn)驗(yàn)證,仿真實(shí)驗(yàn)結(jié)果表明了所設(shè)計(jì)控制器的有效性。最后分析了如何將研究的定位算法和軌跡跟蹤控制算法應(yīng)用在實(shí)際的服務(wù)機(jī)器人運(yùn)動(dòng)控制中。
[Abstract]:With the rapid development of science and technology and the continuous improvement of people's living standards, service robots are gradually entering into people's daily life, involving medical care, intelligent cleaning, entertainment education, hotel services and other fields. In general, the design of service robots mainly covers the design of appearance modeling, mechanical systems, hardware and software systems. Based on the design principle of low cost, low realization difficulty and high reliability, this paper designs the structure of the service robot according to the practical application scene of hotel room. On this basis, the research on motion control of the service robot is carried out. Based on the design method of standardization and modularization, the mechanical structure design of hotel service robot is completed by using Solidworks software, which is based on the analysis and reference of the design essentials of service robot at home and abroad. In the specific structure design, through the comparison and analysis of the applicability of the mobile chassis structure of various robots, the three-wheeled all-directional mobile chassis structure is chosen as the mobile mechanism of the hotel service robot. According to the function and appearance requirement of hotel service robot, the frame structure and appearance of service robot are designed. On this basis, the strength of the main force components of the service robot is checked, and the hardware selection and software design of the motion control system of the service robot are analyzed and explained. Secondly, the kinematics and dynamics models of hotel service robot are established by coordinate transformation method and Newton's law, and the relationship between the rotation speed of the mobile chassis and the moving speed of the robot is obtained. The relationship between the torque of moving chassis driving motor and the moving speed and acceleration of the robot is studied. The basic motion characteristics of the service robot in the process of planar movement are analyzed and studied. Then, in order to verify the rationality of the structure design of service robot, the virtual prototype model of hotel service robot is established by using ADAMS virtual prototyping simulation software, and the simulation environment is created according to the actual situation. It includes the selection of material properties and contact relation parameters of the key components of the service robot. Then, the virtual prototype model of the service robot is simulated, and the effects of the moving speed of the service robot and the stiffness of the shock absorber spring on the moving stability of the robot are analyzed. It provides a reference for the structure design of the physical prototype. Based on the kinematics model of hotel service robot, the indoor positioning algorithm based on two encoders and single axis gyroscope is studied. Then, on the basis of global positioning, the global trajectory tracking control problem of the service robot is studied. The kinematics model of the pose error of the service robot is taken as the research object, and the linear velocity and angular velocity are taken as the control input. A global trajectory tracking controller based on Backstepping algorithm is designed, and the simulation results of linear and circumferential trajectory tracking are verified by MATLAB programming. The simulation results show the effectiveness of the proposed controller. Finally, this paper analyzes how to apply the localization algorithm and trajectory tracking control algorithm to the actual robot motion control.
【學(xué)位授予單位】：西南交通大學(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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