【摘要】：對于復(fù)雜環(huán)境下執(zhí)行探測、救援任務(wù)的機(jī)器人而言,要求能適應(yīng)多種路況,且在運(yùn)動速度、越障能力等方面具有優(yōu)良的性能。傳統(tǒng)的多足機(jī)器人,雖然越障能力強(qiáng),但運(yùn)動速度較慢;而球形機(jī)器人,運(yùn)動速度快、機(jī)動能力強(qiáng),且具有零轉(zhuǎn)彎半徑,但避障能力不足�；诖�,本文研制了具有多種運(yùn)動形式的球-腿變形機(jī)器人系統(tǒng),兼具球形機(jī)器人快速運(yùn)動和多足機(jī)器人高避障能力的特點(diǎn),能根據(jù)不同路況選擇合適的運(yùn)動形式。針對復(fù)雜環(huán)境下作業(yè)任務(wù)對機(jī)器人運(yùn)動能力的需求,確定了移動機(jī)器人系統(tǒng)的功能和性能指標(biāo),基于此,設(shè)計了一種球腿復(fù)合機(jī)器人系統(tǒng)。整個機(jī)器人系統(tǒng)包括機(jī)械、傳感、以及嵌入式控制系統(tǒng)三部分。機(jī)械上,采用可拼接球形外殼包裹的六足機(jī)器人的復(fù)合式機(jī)構(gòu),針對六足與球的切換所帶來的變形及干涉問題,本文設(shè)計一種全新的基于阿基米德螺旋線的展開機(jī)構(gòu),目的是為了上半球與下半球的球瓣之間不會發(fā)生機(jī)械干涉。根據(jù)所設(shè)計的構(gòu)型,開展了單腿運(yùn)動學(xué)和整個系統(tǒng)運(yùn)動學(xué)的建模,分析了各腿間的相互作用關(guān)系并制定了多足協(xié)調(diào)規(guī)則,規(guī)劃了六足運(yùn)動以及球形滾動模式的運(yùn)動步態(tài),并結(jié)合ADAMS動力學(xué)仿真,驗(yàn)證了系統(tǒng)設(shè)計的合理性。傳感器主要采用WIFI攝像頭進(jìn)行環(huán)境感知,且能將所觀測的圖像通過無線鏈路傳到后臺控制終端�？刂品窒到y(tǒng)以STM32系列芯片和無線路由器為核心,植入了實(shí)時操作系統(tǒng)Open WRT并編寫了任務(wù)程序,實(shí)現(xiàn)機(jī)器人多種運(yùn)動模式的轉(zhuǎn)換以及傳感數(shù)據(jù)的反饋。另外,為方便任務(wù)規(guī)劃和狀態(tài)監(jiān)測,基于C#編寫了后臺控制終端的上位機(jī)軟件,實(shí)現(xiàn)了與嵌入式控制分系統(tǒng)以及WIFI相機(jī)的無線通信,可遠(yuǎn)程控制機(jī)器人執(zhí)行作業(yè)任務(wù)。最后,制作了移動機(jī)器人的樣機(jī)并進(jìn)行了實(shí)驗(yàn)研究。結(jié)果表明,所研制的機(jī)器人系統(tǒng)具有較好的運(yùn)動能力、變形能力與滾動能力。
[Abstract]:For robots that perform detection and rescue missions in complex environments, they are required to adapt to a variety of road conditions, and have excellent performance in terms of speed of movement, ability of surmounting obstacles, and so on. Although the traditional multi-legged robot has strong ability of surmounting obstacles, its speed is slow, while the spherical robot has the advantages of high speed, strong maneuverability and zero turning radius, but its ability to avoid obstacles is insufficient. Based on this, a spherical and leg deformable robot system with various motion forms has been developed, which has the characteristics of fast movement of spherical robot and high obstacle avoidance ability of multi-legged robot, and can choose suitable motion form according to different road conditions. The function and performance index of mobile robot system are determined according to the requirement of robot motion ability in complex environment. Based on this, a hybrid robot system with ball legs is designed. The whole robot system consists of three parts: mechanical, sensing and embedded control system. In order to solve the problem of deformation and interference caused by the switch between the hexapod and the ball, a new expansion mechanism based on Archimedes helix is designed in this paper. The aim is to prevent mechanical interference between the upper and lower hemispheres. According to the designed configuration, the kinematics of one leg and the whole system are modeled, and the interaction between the legs is analyzed, and the coordination rules of multiple legs are formulated, and the gait of six-legged motion and spherical rolling mode is planned. The rationality of the system design is verified by Adams dynamic simulation. The sensor mainly uses WiFi camera to sense the environment and can transmit the observed images to the background control terminal via wireless link. The control subsystem is based on STM32 series chips and wireless routers. The real-time operating system Open WRT is implanted and the task program is written to realize the conversion of robot motion modes and the feedback of sensing data. In addition, in order to facilitate task planning and condition monitoring, the upper computer software of the background control terminal is programmed based on C #. The wireless communication with embedded control subsystem and WiFi camera is realized. The robot can be remotely controlled to perform tasks. Finally, the prototype of the mobile robot is made and the experimental research is carried out. The results show that the robot system has better kinematic ability, deformation ability and rolling ability.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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本文編號：2121936