【摘要】：在現(xiàn)代社會,移動機器人已被廣泛應(yīng)用于搜救、偵查、核輻射檢測等環(huán)境中,代替人類執(zhí)行困難、復(fù)雜和危險的任務(wù)。相比于其他運動形式的移動機器人,多足機器人具有更好的環(huán)境適應(yīng)性和越障能力,得到了廣泛的關(guān)注,典型的代表有六足機器人和四足機器人。現(xiàn)有的六足機器人基本不具備作業(yè)能力,或是通過載臂完成作業(yè)任務(wù),沒有充分利用自身冗余的結(jié)構(gòu)和腿部的多自由度。針對這一問題,本文研制了一種具有六足-四足雙運動模式的,能完成一定作業(yè)任務(wù)的移動機器人系統(tǒng),并開展了實驗研究。針對復(fù)雜環(huán)境下的作業(yè)任務(wù)需求,確定了機器人系統(tǒng)的功能和性能要求,基于此設(shè)計了一種六足-四足移動機器人系統(tǒng)的結(jié)構(gòu),包括分段式軀干、變換機構(gòu)、模塊化腿部和四自由度尾部。建立了各部分的運動學(xué)模型,進行了運動學(xué)分析,并規(guī)劃了兩種運動模式下機器人的典型運動步態(tài)和避障軌跡。為分析機器人的穩(wěn)定性,并對穩(wěn)定運動規(guī)劃提供理論依據(jù),對機器人的質(zhì)量分布進行了簡化,推導(dǎo)了系統(tǒng)重心表達式,提出了以壓力中心法為依據(jù)的穩(wěn)定性判據(jù),得出了穩(wěn)定裕度方程。進一步地,分析了尾部機構(gòu)對機器人系統(tǒng)穩(wěn)定性的調(diào)節(jié)作用,并據(jù)此提出了基于尾部自調(diào)節(jié)的穩(wěn)定步態(tài)規(guī)劃方法,即根據(jù)尾部的調(diào)整來平衡多足運動以及雙足操作過程產(chǎn)生的對系統(tǒng)質(zhì)心偏移的影響,保證了系統(tǒng)的穩(wěn)定。本文還開發(fā)以STM32系列芯片為控制核心的嵌入式控制系統(tǒng),編寫了機器人的運動控制程序和上位機軟件,實現(xiàn)了上位機與機器人的無線通信。最后,完成了六足-四足移動機器人系統(tǒng)樣機的制作與調(diào)試,并開展了一系列實驗,包括基本運動實驗、樓梯攀爬實驗和貨物搬運實驗。結(jié)果表明,所設(shè)計的機器人具有較好的運動能力和作業(yè)能力。
[Abstract]:In modern society, mobile robots have been widely used in search and rescue, detection, nuclear radiation detection and other environments, instead of human performing difficult, complex and dangerous tasks. Compared with other mobile robots, multi-legged robots have better environmental adaptability and obstacle-crossing ability, and have received extensive attention, typical of which are hexapod robots and quadruped robots. The existing hexapod robots basically do not have the working ability, or complete the task by carrying the arm, and do not make full use of their redundant structure and the multi-degree of freedom of the legs. In order to solve this problem, a mobile robot system with hexapod-quadruped biped motion mode and can complete certain tasks is developed in this paper, and the experimental research is carried out. According to the requirements of task in complex environment, the function and performance requirements of robot system are determined. Based on this, a structure of hexapod-quadruped mobile robot system is designed, which includes segmented torso, transformation mechanism, modular leg and four-degree-of-freedom tail. The kinematic models of each part are established, the kinematic analysis is carried out, and the typical motion gait and obstacle avoidance trajectory of the robot in the two motion modes are planned. In order to analyze the stability of the robot and provide the theoretical basis for the stable motion planning, the mass distribution of the robot is simplified, the expression of the center of gravity of the system is derived, the stability criterion based on the pressure center method is put forward, and the stability margin equation is obtained. Furthermore, the effect of tail mechanism on the stability of robot system is analyzed, and a stable gait planning method based on tail self-adjustment is proposed, that is, the influence of multi-foot motion and bipedal operation process on the centrocenter deviation of the system is balanced according to the adjustment of tail, which ensures the stability of the system. This paper also develops an embedded control system with STM32 series chip as the control core, compiles the motion control program and upper computer software of the robot, and realizes the wireless communication between the upper computer and the robot. Finally, the prototype of hexapod-quadruped mobile robot system is made and debugged, and a series of experiments are carried out, including basic motion experiment, staircase climbing experiment and cargo handling experiment. The results show that the designed robot has good motion ability and operation 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：2505097