本文選題：拋投式偵查機器人 + 平衡穩(wěn)定　； 參考：《南京理工大學》2017年碩士論文

【摘要】：移動偵查機器人作為當代軍用機器人重要分支,形成了一定規(guī)模的產(chǎn)品群,擁有較好的技術(shù)積累,拋投式偵查機器人作為近年來新興的研究方向,研究前景廣闊。本文在收集和分析國內(nèi)外現(xiàn)有研究成果的基礎(chǔ)上,設計了一款可采用拋擲布設的小型拋投式偵查機器人,針對機器人的硬件設計、結(jié)構(gòu)設計、平衡穩(wěn)定性以及運動學動力學分析等內(nèi)容展開了研究工作。結(jié)合國內(nèi)外相關(guān)產(chǎn)品,提出了拋投式偵查機器人的技術(shù)指標,質(zhì)量體積小、結(jié)構(gòu)簡單、擁有一定的越障能力,提出了機器人的總體設計方案�；谠O計方案,闡述了機器人的工作流程與原理,完成了機器人的整體結(jié)構(gòu)設計,進行了機器人控制系統(tǒng)設計與硬件設計,并構(gòu)建了完整的三維模型。針對拋擲布設過程后機器人姿態(tài)穩(wěn)定性問題,對機器人結(jié)構(gòu)進行了優(yōu)化,包括主軸質(zhì)心布局優(yōu)化、平衡技術(shù)的提出與平衡體設計。主軸質(zhì)心布局優(yōu)化依靠機械設計軟件,提升主軸體的穩(wěn)定性。革新傳統(tǒng)倒立擺結(jié)構(gòu)穩(wěn)定性的復雜方案,設計輔助機構(gòu)平衡體,并借助MATLAB軟件對平衡體結(jié)構(gòu)進行分析與優(yōu)化,重點分析了復雜環(huán)境中多種著陸方式機器人恢復平衡狀態(tài)的原理。針對小型機器人抗摔抗震性能提升的問題,對機器人進行了輕量化設計,并針對關(guān)鍵部位輪軸配合處優(yōu)化裝配方式,引入沖擊載荷計算論證設計合理性與可靠性。針對輪式移動機器人運動穩(wěn)定性與避障性能的問題,對機器人構(gòu)建運動學模型,進行了運動規(guī)劃與動力學分析,并運用ADAMS軟件對機器人進行動態(tài)仿真,驗證了多種結(jié)構(gòu)環(huán)境下運動規(guī)劃的可行性,特別是產(chǎn)生越障擾動后,機器人調(diào)整位姿的可行性。
[Abstract]:As an important branch of modern military robot, mobile reconnaissance robot has formed a certain scale product group, and has a good technology accumulation. As a new research direction in recent years, the research prospect of projectile reconnaissance robot is broad. On the basis of collecting and analyzing the existing research results at home and abroad, this paper designs a kind of small projectile reconnaissance robot which can be set up by throwing, aiming at the hardware design and structure design of the robot. The equilibrium stability and kinematics and dynamics analysis have been carried out. Combined with the related products at home and abroad, this paper puts forward the technical index of the projectile investigative robot, which has the advantages of small volume, simple structure and certain ability of surmounting obstacles, and puts forward the overall design scheme of the robot. Based on the design scheme, the workflow and principle of the robot are expounded, the whole structure of the robot is designed, the control system and hardware of the robot are designed, and a complete 3D model is constructed. Aiming at the stability of robot attitude after throwing placement, the structure of the robot is optimized, including the optimization of the centroid layout of the spindle, the development of the balancing technology and the design of the balancing body. The optimization of spindle centroid layout depends on mechanical design software to improve the stability of spindle body. This paper innovates the complex scheme of the stability of traditional inverted pendulum, designs the balance body of auxiliary mechanism, analyzes and optimizes the balance structure with MATLAB software, and emphatically analyzes the principle of restoring balance state of multi-landing robot in complex environment. Aiming at the problem of improving the anti-fall seismic performance of small robot, the lightweight design of the robot is carried out, and the design rationality and reliability of the design are demonstrated by introducing the impact load calculation to optimize the assembly mode of the key parts of the wheel-shaft fit. Aiming at the problem of motion stability and obstacle avoidance performance of wheeled mobile robot, the kinematics model of the robot is constructed, the motion planning and dynamic analysis are carried out, and the dynamic simulation of the robot is carried out by using Adams software. The feasibility of motion planning in various structural environments is verified, especially the feasibility of the robot's position and posture adjustment after the disturbance of obstacle crossing is generated.
【學位授予單位】：南京理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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