本文選題：模塊化 + 四面體機(jī)器人　； 參考：《北京交通大學(xué)》2017年碩士論文

【摘要】：模塊化設(shè)計(jì)思想是一種擁有諸多優(yōu)點(diǎn)的新興設(shè)計(jì)理論,而運(yùn)用模塊化設(shè)計(jì)思想設(shè)計(jì)機(jī)器人則能夠?qū)崿F(xiàn)機(jī)器人的柔性擴(kuò)展,也是機(jī)器人技術(shù)發(fā)展的必然趨勢(shì)。與此同時(shí),在移動(dòng)機(jī)器人領(lǐng)域,多面體機(jī)器人是一種新興事物,具有很強(qiáng)的環(huán)境適應(yīng)能力,實(shí)現(xiàn)多面體機(jī)器人的模塊化則有助于移動(dòng)機(jī)器人技術(shù)的發(fā)展�；诖吮尘�,本文以多面體機(jī)器人為研究對(duì)象,對(duì)其模塊化設(shè)計(jì)方案進(jìn)行研究,并以兩款具有不同運(yùn)動(dòng)副的四面體機(jī)器人為實(shí)例進(jìn)行設(shè)計(jì)方案的驗(yàn)證。首先,從幾何學(xué)的角度對(duì)多面體進(jìn)行分析,分析其實(shí)現(xiàn)運(yùn)動(dòng)的方式和基本結(jié)構(gòu)組成單元,并與多面體機(jī)器人進(jìn)行對(duì)比,從機(jī)構(gòu)學(xué)角度分析出適合于此類機(jī)器人的運(yùn)動(dòng)實(shí)現(xiàn)方式和基本結(jié)構(gòu)單元。接下來以基本結(jié)構(gòu)單元為設(shè)計(jì)出發(fā)點(diǎn),對(duì)兩款具有不同運(yùn)動(dòng)副的模塊化多面體機(jī)器人的機(jī)構(gòu)模塊構(gòu)形、機(jī)構(gòu)模塊間連接、控制方案、控制系統(tǒng)硬件模塊間連接進(jìn)行設(shè)計(jì),并對(duì)控制系統(tǒng)硬件模塊初步選型和軟件模塊化實(shí)現(xiàn)進(jìn)行研究。然后,基于模塊化多面體機(jī)器人的設(shè)計(jì)方案,以兩款具有不同運(yùn)動(dòng)副的四面體機(jī)器人為實(shí)例,實(shí)現(xiàn)其模塊化的同時(shí),分別進(jìn)行運(yùn)動(dòng)學(xué)分析、控制系統(tǒng)硬件具體選型和軟件流程設(shè)計(jì),以驗(yàn)證多面體機(jī)器人模塊化設(shè)計(jì)方案的可行性。其次,基于運(yùn)動(dòng)學(xué)分析,對(duì)兩款四面體機(jī)器人設(shè)計(jì)不同的步態(tài)變換步驟并由運(yùn)動(dòng)俯視圖分析其共有的步態(tài)分布規(guī)律。以此步態(tài)分布規(guī)律為依據(jù),對(duì)基于R副模塊化四面體機(jī)器人控制系統(tǒng)的實(shí)時(shí)控制算法進(jìn)行了設(shè)計(jì),實(shí)現(xiàn)了機(jī)器人根據(jù)所處的位置和操作者的控制命令進(jìn)行特定方向的運(yùn)動(dòng),并運(yùn)用面向?qū)ο缶幊碳夹g(shù)的實(shí)現(xiàn)其模塊化。與此同時(shí),基于傳感器的檢測(cè)原理,對(duì)基于R副模塊化四面體機(jī)器人控制系統(tǒng)的運(yùn)動(dòng)檢測(cè)算法進(jìn)行了設(shè)計(jì),并對(duì)其初始方案進(jìn)行誤差分析,設(shè)計(jì)出了校正零位偏移誤差、隨機(jī)誤差和積累誤差具有更高精度的運(yùn)動(dòng)檢測(cè)算法,也運(yùn)用面向?qū)ο缶幊碳夹g(shù)實(shí)現(xiàn)了其模塊化。最后,對(duì)基于R副模塊化四面體機(jī)器人的主要零部件進(jìn)行加工,制作并裝配其樣機(jī)和控制系統(tǒng),進(jìn)行試驗(yàn)調(diào)試,實(shí)現(xiàn)了本文模塊化設(shè)計(jì)方案。
[Abstract]:The idea of modular design is a new design theory with many advantages. Using modular design thought to design robot can realize the flexibility expansion of robot, which is the inevitable trend of the development of robot technology. At the same time, in the field of mobile robot, polyhedron robot is a new thing, which has strong adaptability to the environment. The realization of modularization of polyhedron robot is helpful to the development of mobile robot technology. Based on this background, the modular design scheme of polyhedron robot is studied in this paper, and two tetrahedral robots with different motion pairs are taken as examples to verify the design scheme. First of all, from the point of view of geometry, we analyze the motion of polyhedron and its basic structure, and compare it with the polyhedron robot. From the point of view of mechanism, the kinematic realization mode and basic structure unit of this kind of robot are analyzed. Then the basic structure unit is taken as the starting point of the design. The configuration of the mechanism module, the connection between the mechanism modules, the control scheme and the connection between the hardware modules of the control system are designed for two modular polyhedron robots with different motion pairs. The primary selection of hardware module and the realization of software modularization are also studied. Then, based on the design scheme of modular polyhedron robot, two tetrahedral robots with different motion pairs are taken as examples to realize modularization and kinematics analysis respectively. The hardware selection and software flow design of the control system are used to verify the feasibility of the modular design of polyhedron robot. Secondly, based on kinematics analysis, different gait transformation steps are designed for two tetrahedron robots and their common gait distribution laws are analyzed by motion overlooking graph. Based on the gait distribution, a real-time control algorithm based on R submodular tetrahedron robot control system is designed, which realizes the robot moving in a specific direction according to the position and the control command of the operator. And use the object-oriented programming technology to achieve its modularization. At the same time, based on the detection principle of sensor, the motion detection algorithm of the control system based on R pair modularized tetrahedron robot is designed, and the error of the initial scheme is analyzed, and the zero offset error is designed. Random error and accumulation error have higher precision motion detection algorithm, and it is also modularized by object-oriented programming technology. Finally, the main components of the R pair modular tetrahedron robot are processed, its prototype and control system are manufactured and assembled, and the experimental debugging is carried out, and the modular design scheme of this paper is realized.
【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】：2017
【分類號(hào)】：TP242

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