【摘要】：隨著人類對自然探索的不斷深入,人們迫切的需要一種能在多種復(fù)雜環(huán)境下快速運動的全地形移動平臺。目前的全地形移動平臺普遍存在著無法同時應(yīng)對多種環(huán)境條件的問題,當(dāng)環(huán)境發(fā)生變化時,單一行走機(jī)構(gòu)難以做到適應(yīng)自如;而同時安裝兩種行走機(jī)構(gòu)的移動平臺又存在著結(jié)構(gòu)復(fù)雜,動力分配困難等問題。三角履帶輪作為一種全新的行走機(jī)構(gòu),有機(jī)整合了輪式和履帶式行走機(jī)構(gòu)的優(yōu)點,能夠同時提高機(jī)體的環(huán)境適應(yīng)能力和移動平穩(wěn)程度,同時不會對機(jī)體結(jié)構(gòu)造成影響,對于全地形移動平臺的發(fā)展提供了一個新的思路。針對當(dāng)前全地形機(jī)器人移動平臺普遍存在的難以應(yīng)對快速變換環(huán)境的問題。本文針對三角履帶輪的結(jié)構(gòu)進(jìn)行了動力學(xué)建模,并通過動力學(xué)模型對三角履帶輪的減震系統(tǒng)結(jié)構(gòu)參數(shù)進(jìn)行了優(yōu)化處理,通過聯(lián)合仿真驗證了優(yōu)化后的減震效果并進(jìn)行了進(jìn)一步優(yōu)化,證明了三角履帶輪的環(huán)境適應(yīng)能力與運動的平穩(wěn)性,為下一步的結(jié)構(gòu)設(shè)計提供參考,具體開展如下研究:對三角履帶輪的結(jié)構(gòu)與受力進(jìn)行了分析,重點分析了三角履帶輪系中各組成構(gòu)件的功能以及內(nèi)部力的分配。利用牛頓歐拉法對各主要構(gòu)件以及不同位置的履帶的受力情況進(jìn)行了解算,從而獲得了構(gòu)件運動加速度與其所受到的力之間的關(guān)系,為動力學(xué)建模提供了基礎(chǔ)。在受力分析的基礎(chǔ)上,結(jié)合地形隨機(jī)不平度函數(shù)、牛頓歐拉法與迭代法,建立了三角履帶輪動力學(xué)模型,并對該模型進(jìn)行了離散化求解,為下一步仿真建模做好準(zhǔn)備。根據(jù)三角履帶輪的動力學(xué)模型,在RecurDyn中建立了三角履帶輪的聯(lián)合仿真實驗平臺,利用動力學(xué)模型對三維仿真模型的運動進(jìn)行控制,在多種復(fù)雜環(huán)境下對聯(lián)合仿真實驗平臺進(jìn)行了仿真實驗,對三角履帶輪的環(huán)境適應(yīng)能力進(jìn)行了驗證;并通過優(yōu)化設(shè)計對動力學(xué)模型的結(jié)構(gòu)參數(shù)進(jìn)行了優(yōu)化,通過優(yōu)化前后的指標(biāo)對比驗證了三角履帶輪的運動平穩(wěn)性從而證明了三角履帶輪作為一種行走機(jī)構(gòu),能夠大大提高全地形機(jī)器人移動平臺的性能。
[Abstract]:With the deepening of human exploration of nature, people are in urgent need of an all-terrain mobile platform that can move rapidly in a variety of complex environments. At present, the whole terrain mobile platform is generally unable to cope with various environmental conditions at the same time. When the environment changes, it is difficult for a single walking mechanism to adapt freely. However, there are some problems such as complicated structure and difficult power distribution in the mobile platform with two kinds of walking mechanism installed at the same time. As a new type of walking mechanism, triangle crawler wheel integrates the advantages of wheeled and tracked walking mechanism, and can improve the adaptability of environment and the degree of smooth movement of the body at the same time, and it will not affect the structure of the body at the same time. It provides a new idea for the development of all terrain mobile platform. At present, the mobile platform of all terrain robot is difficult to deal with the problem of fast changing environment. In this paper, the dynamic modeling of the structure of the triangular crawler wheel is carried out, and the structural parameters of the damping system of the triangulated crawler wheel are optimized by the dynamic model. Through the joint simulation, the effect of the optimized vibration absorption is verified and further optimization is carried out, which proves the adaptability of the triangular crawler wheel to the environment and the smoothness of the motion, and provides a reference for the next structural design. The main contents of this paper are as follows: the structure and force of the triangular crawler wheel are analyzed, and the function of the components and the distribution of the internal force in the triangular crawler gear train are analyzed. Newtonian Euler method is used to calculate the forces on the main components and tracked tracks in different positions, thus the relationship between the acceleration of motion and the forces on which the components are subjected is obtained, which provides the basis for dynamic modeling. On the basis of force analysis, combined with terrain random irregularity function, Newton Euler method and iterative method, the dynamic model of triangular crawler wheel is established, and the model is solved discretely to prepare for the next simulation modeling. According to the dynamic model of the triangular crawler wheel, the joint simulation experiment platform of the triangulated crawler wheel is established in RecurDyn, and the motion of the three-dimensional simulation model is controlled by the dynamic model. Simulation experiments were carried out on the joint simulation experiment platform in various complex environments, and the adaptability of the triangular crawler wheel was verified. The structural parameters of the dynamic model are optimized by the optimization design. The kinematic stability of the triangulated crawler wheel is verified by comparing the indexes before and after the optimization, which proves that the triangular crawler wheel is a kind of walking mechanism. It can greatly improve the performance of the whole terrain robot mobile platform.
【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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