本文選題：空間連桿機(jī)構(gòu)　切入點(diǎn)：移動(dòng)機(jī)器人　出處：《北京交通大學(xué)》2011年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：隨著人類(lèi)對(duì)地面和空間環(huán)境探測(cè)進(jìn)程的不斷深入,設(shè)計(jì)新型高性能探測(cè)移動(dòng)機(jī)器人成為各國(guó)研究的前沿問(wèn)題。常規(guī)移動(dòng)機(jī)器人主要包括輪式、腿式、履帶式等,但由于自身結(jié)構(gòu)的特點(diǎn),在探測(cè)環(huán)境中具有各自的局限性。目前空間探測(cè)機(jī)器人主要采用輪式移動(dòng)方式,機(jī)器人在翻覆后的復(fù)位功能欠佳。本文的研究目的在于,通過(guò)研究幾何多面體,設(shè)計(jì)出轉(zhuǎn)動(dòng)副驅(qū)動(dòng)的多面體式移動(dòng)機(jī)構(gòu)。 首先,基于空間幾何多面體的設(shè)計(jì)思路,研究了雙三角錐移動(dòng)機(jī)構(gòu)的運(yùn)動(dòng)特性和實(shí)現(xiàn)條件。采用轉(zhuǎn)動(dòng)副驅(qū)動(dòng),實(shí)現(xiàn)的技術(shù)難度低,變形姿態(tài)和運(yùn)動(dòng)方式多樣；且可以進(jìn)行擴(kuò)展和組合,形成更為復(fù)雜和多樣的機(jī)構(gòu)群組。此外,空間探測(cè)器的存儲(chǔ)空間有限,該類(lèi)機(jī)構(gòu)具有較好的對(duì)稱(chēng)性和體積縮放性能,在運(yùn)輸過(guò)程中可以節(jié)省空間。針對(duì)其移動(dòng)路徑,提出了一種控制的方法。進(jìn)行了軟件仿真,并制作了樣機(jī),驗(yàn)證了機(jī)構(gòu)移動(dòng)和控制方法的可行性。 其次,提出了一種三棱柱式移動(dòng)機(jī)構(gòu),其由三組平面連桿機(jī)構(gòu)組成,建立起了一種從平面機(jī)構(gòu)到空間機(jī)構(gòu)的過(guò)渡方式。三棱柱機(jī)構(gòu)可以通過(guò)調(diào)節(jié)各組平面機(jī)構(gòu)的形狀來(lái)實(shí)現(xiàn)機(jī)構(gòu)的移動(dòng)和轉(zhuǎn)向功能。 最后,對(duì)四面體移動(dòng)機(jī)構(gòu)的構(gòu)型進(jìn)行了分析和設(shè)計(jì),對(duì)全R副16桿機(jī)構(gòu)的運(yùn)動(dòng)步態(tài)進(jìn)行了研究和運(yùn)動(dòng)仿真,驗(yàn)證了運(yùn)動(dòng)功能。對(duì)R副和U副混合的四面體機(jī)構(gòu)進(jìn)行運(yùn)動(dòng)特性分析,發(fā)現(xiàn)由URU支鏈組成的機(jī)構(gòu)具有較好的運(yùn)動(dòng)性能。分析了四面體機(jī)構(gòu)較為通用的移動(dòng)步態(tài)。對(duì)URU支鏈的四面體機(jī)構(gòu)進(jìn)行了結(jié)構(gòu)設(shè)計(jì)。 本文工作為多面體類(lèi)移動(dòng)機(jī)構(gòu)的后續(xù)研究和發(fā)展提供了理論和設(shè)計(jì)基礎(chǔ)。
[Abstract]:With the continuous development of human exploration on the ground and space environment, the design of new high-performance mobile robot has become a frontier problem in many countries. The conventional mobile robot mainly includes wheeled, legged, crawler and so on. However, due to the characteristics of its own structure, it has its own limitations in the detection environment. At present, the space detection robot mainly adopts wheeled mobile mode, and the reset function of the robot after capsizing is not good. By studying geometric polyhedron, a polyhedron moving mechanism driven by rotating pair is designed. Firstly, based on the design idea of spatial geometry polyhedron, the motion characteristics and realization conditions of double triangular cone moving mechanism are studied. In addition, the space detector has limited storage space, and this kind of mechanism has better symmetry and volume scaling performance. In the process of transportation, the space can be saved. A control method is proposed for its moving path. The software simulation is carried out, and the prototype is made to verify the feasibility of the mechanism movement and control method. Secondly, a three-prism moving mechanism is proposed, which is composed of three groups of planar linkage mechanisms. A transition mode from plane mechanism to space mechanism is established. The three-prism mechanism can realize the function of moving and steering by adjusting the shape of each set of planar mechanisms. Finally, the configuration of the tetrahedron moving mechanism is analyzed and designed, and the motion gait of the all-R pair 16-bar mechanism is studied and simulated. The motion function is verified. The motion characteristics of the tetrahedron mechanism mixed with R pair and U pair are analyzed. It is found that the mechanism composed of URU branch chain has better kinematic performance. The general moving gait of tetrahedron mechanism is analyzed. The structure of tetrahedron mechanism of URU branch chain is designed. The work in this paper provides a theoretical and design basis for the further research and development of polyhedron mobile mechanism.
【學(xué)位授予單位】：北京交通大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類(lèi)號(hào)】：TH112.1

【引證文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前1條

1 秦俊杰;基于URU鏈的四面體移動(dòng)機(jī)構(gòu)理論與實(shí)驗(yàn)研究[D];北京交通大學(xué);2012年

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本文編號(hào)：1598396