摆臂可伸缩式履带机器人结构设计与运动性能研究

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题名	摆臂可伸缩式履带机器人结构设计与运动性能研究
作者	朱岩
学位类别	硕士
答辩日期	2016-05-25
授予单位	中国科学院沈阳自动化研究所
导师	王明辉
关键词	履带机器人履带可变形机器人目标规划越障性能履带仿真
其他题名	Research on the Structure Design and Motion Performance of Tracked Robot with Retractable Swing-arm
学位专业	机械制造及其自动化
中文摘要	本文的研究内容主要是围绕海军装备技术研究所“检修机器人关键技术研究”展开。针对核潜艇内环境中台阶、管道和沟壑障碍并存的复杂地形，研制一种对核潜艇内环境具有适应能力的履带式移动机器人。主要围绕摆臂可伸缩式履带机器人的结构设计与分析方法展开研究。具体内容为：为解决常规检修机器人结构复杂、障碍环境适应能力差的问题，本文从履带式移动机器人一般的构型推演规律出发，综合考虑各构型的复杂度、运动能力、重心自调节能力以及稳定性，提出一种摆臂可伸缩式履带机器人。为保证该构型机器人的履带能连续张紧，将椭圆定理应用于构型设计，并完成该构型机器人攀爬台阶、翻越管道和跨越沟壑的越障运动机理研究，初步验证了构型的有效性。针对核潜艇内环境障碍差异化的特点，提出一种基于多目标优化的机器人结构参数设计方法，得到了适应该环境的结构参数最优的机器人。建立机器人的结构参数和环境障碍之间的函数关系，根据核潜艇内环境障碍特点，将多目标优化问题转化为目标规划(Goal Programming)问题。利用遗传算法求解模型得到该目标规划问题的最优解，进而得到最优结构参数以指导最终的结构设计。为研究在复杂环境下机器人的综合运动性能，对机器人越障过程进行了动力学分析。针对环境中不同障碍，分别建立了动力学模型，得到了机器人综合运动性能的理论值。构建机器人动力学仿真平台，根据理论计算得到的障碍值，对机器人的越障过程进行了动力学仿真试验，验证了机器人运动性能理论分析的准确性，同时也说明了机器人结构参数的合理性。在机器人构型设计、结构参数优化和运动性能动力学分析基础上，独立完成了该机器人的详细的机构设计，并采用有限元方法对机器人摆臂的强度和刚度进行了优化设计。最后进行了样机攀爬台阶、翻越管道和跨越沟壑试验，验证了摆臂可伸缩式履带机器人的环境适应性，并证明了本文提出的履带机器人结构设计与分析方法的可行性。
英文摘要	This work is based on “The key technology of maintenance robot” by Naval Institute of Technology and Equipment. Considering the complex terrain of the stair pipeline and gully in the nuclear submarine, a tracked mobile robot is developed. This paper focuses on the structure design and motion performance of the tracked robot with retractable swing-arm. In order to solve the problem of complicated structure and poor adaptability of conventional maintenance robot, this paper starts from the general configuration evolution law of the tracked robot. Considering the complexity of the configuration, motion capacity, the center of gravity of the self regulating ability and stability and so on, a tracked robot with retractable swing-arm is proposed. In order to ensure that the track can be continuously tensioning and the track length is not changed, the elliptic theorem is used to the structure design. And on this basis, the deformation mechanism of the robot and the obstacle motion mechanism are analyzed. Then the validity of the configuration is verified preliminarily with studying the obstacle negotiation performance. According to the various obstacles of the nuclear submarine, a design method of robot structure parameters based on multi-objective optimization is proposed, and the optimal structure parameters of the robot are obtained. Based on the functional relationship between the structural parameters of the robot and the environmental obstacles, the multi-objective optimization problem is transformed into the programming goal problem. By using the genetic algorithm to solve the model, the goal programming problem is solved, so the optimal structure parameters are obtained. In order to study the comprehensive performance of the robot in complex environment, the dynamics of robot process are analyzed. According to different obstacles in the environment, the dynamic model is established, and the theoretical value of the comprehensive performance of the robot is obtained. Then a simulation experiment is carried out by a dynamic simulation platform. Not only the accuracy of the theoretical analysis of the robot's motion performance is verified, but also the feasibility of the parameter optimization method of the robot designed for structured environment is proved. On the basis of the robot configuration design and the optimization of the structure parameters, the mechanical system of the robot is designed. Then, the strength and stiffness of the robot arm are analyzed by the finite element method, and the structure is optimized. At last, the prototype experiment is carried out to verify the robot’s adaptability to the environment. What’s more, it also proves the rationality of the design and analysis methods of the tracked robot.
语种	中文
产权排序	1
页码	71页
内容类型	学位论文
源URL	[http://ir.sia.cn/handle/173321/19668]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	朱岩. 摆臂可伸缩式履带机器人结构设计与运动性能研究[D]. 中国科学院沈阳自动化研究所. 2016.