發(fā)布時(shí)間：2018-05-22 15:09

  本文選題：變形移動(dòng)機(jī)構(gòu) + 多面體　； 參考：《北京交通大學(xué)》2017年博士論文

【摘要】：隨著移動(dòng)機(jī)器人技術(shù)的快速發(fā)展,機(jī)器人的功能需求逐漸面向應(yīng)對(duì)未知的復(fù)雜任務(wù)(如星球探測(cè)、災(zāi)難救援等),從而對(duì)其移動(dòng)能力提出了更加嚴(yán)苛的要求。復(fù)合型、可重構(gòu)以及其他新概念構(gòu)型設(shè)計(jì)方法及技術(shù)被應(yīng)用于增強(qiáng)機(jī)器人的移動(dòng)能力。本文以適用于復(fù)雜任務(wù)下非結(jié)構(gòu)化地形環(huán)境的新概念地面移動(dòng)機(jī)構(gòu)為研究目標(biāo),從機(jī)構(gòu)學(xué)角度出發(fā),將機(jī)構(gòu)構(gòu)型創(chuàng)新設(shè)計(jì)及變形機(jī)器人思想相融合,利用連桿機(jī)構(gòu)的靈活特性,提出以六面體為幾何外形的一系列可變形機(jī)構(gòu)的構(gòu)造方法,并探索與研究了可變形六面體機(jī)構(gòu)的地面移動(dòng)能力。本論文提出可變形六面體地面移動(dòng)機(jī)構(gòu)的原創(chuàng)概念,其本質(zhì)是將具有六面體外形的復(fù)雜空間連桿機(jī)構(gòu)整體通過(guò)映射設(shè)計(jì)構(gòu)成為移動(dòng)機(jī)器人的機(jī)械本體�；�于該思想,論文將六面體按正六面體、三角化六面體和削楞截角六面體分類(lèi),基于三種幾何外形構(gòu)造了可變形正六面體地面移動(dòng)機(jī)構(gòu)、可變形三角化六面體地面移動(dòng)機(jī)構(gòu)和可變形削楞截角六面體地面移動(dòng)機(jī)構(gòu),并分別對(duì)其新概念構(gòu)型設(shè)計(jì)和機(jī)器人變形技術(shù)進(jìn)行了探索研究。結(jié)合六面體的拓?fù)浣Y(jié)構(gòu)與幾何外形,分析了構(gòu)成多自由度空間機(jī)構(gòu)的活動(dòng)性,通過(guò)大變形的運(yùn)動(dòng)分析對(duì)其進(jìn)行移動(dòng)步態(tài)規(guī)劃,開(kāi)發(fā)具有新概念構(gòu)型設(shè)計(jì)以及變形機(jī)器人思想的多面體移動(dòng)機(jī)構(gòu)。具體研究?jī)?nèi)容如下:(1)提出一種具有正六面體幾何形態(tài)的新概念可變形滾動(dòng)機(jī)構(gòu)。機(jī)構(gòu)本體為具有14桿16副的空間連桿機(jī)構(gòu),整體由兩個(gè)平臺(tái)和四條支鏈構(gòu)成,外觀形態(tài)為一對(duì)空間正交的平行四邊形,能夠在兩個(gè)驅(qū)動(dòng)器的控制下通過(guò)翻滾步態(tài)實(shí)現(xiàn)全方位移動(dòng)。(2)提出一種3自由度可變形三角化六面體移動(dòng)機(jī)構(gòu)。基于3-URU并聯(lián)機(jī)構(gòu),該機(jī)構(gòu)設(shè)計(jì)了特殊的URU支鏈結(jié)構(gòu),使得通過(guò)控制3個(gè)轉(zhuǎn)動(dòng)副實(shí)現(xiàn)機(jī)構(gòu)整體的運(yùn)動(dòng)。通過(guò)對(duì)機(jī)構(gòu)進(jìn)行運(yùn)動(dòng)學(xué)分析,介紹了三支鏈同步運(yùn)動(dòng)時(shí)機(jī)器人的變形以及滾動(dòng)原理。(3)提出一類(lèi)外部幾何形態(tài)為截角六面體的新型滾動(dòng)機(jī)構(gòu)。通過(guò)改變運(yùn)動(dòng)副的配置方案,得到不同變形特點(diǎn)與滾動(dòng)模式的新構(gòu)型。同時(shí),在設(shè)計(jì)方法上,以幾何形面作為基本單元構(gòu)造具有多面體幾何外形的新概念機(jī)構(gòu),該類(lèi)機(jī)構(gòu)具有截角六面體幾何外形特征,可通過(guò)控制驅(qū)動(dòng)器,實(shí)現(xiàn)機(jī)構(gòu)整體變形,從而實(shí)現(xiàn)機(jī)構(gòu)滾動(dòng)功能。綜合而言,本文從機(jī)構(gòu)構(gòu)型設(shè)計(jì)、運(yùn)動(dòng)分析與步態(tài)規(guī)劃、虛擬樣機(jī)仿真分析、原理樣機(jī)研制及實(shí)驗(yàn)研究等方面,針對(duì)可變形六面體地面移動(dòng)機(jī)構(gòu)進(jìn)行了系統(tǒng)研究,并提出將幾何學(xué)六面體映射為可變形地面移動(dòng)機(jī)構(gòu)的設(shè)計(jì)與分析方法�；�于機(jī)構(gòu)構(gòu)型及功能需求,結(jié)合機(jī)構(gòu)創(chuàng)新構(gòu)型設(shè)計(jì)方法和變形移動(dòng)機(jī)器人設(shè)計(jì)技術(shù),提出了一系列新概念的可變形六面體地面移動(dòng)機(jī)構(gòu),研究了將六面體構(gòu)型設(shè)計(jì)為地面移動(dòng)機(jī)構(gòu)的設(shè)計(jì)方法;應(yīng)用變形機(jī)器人設(shè)計(jì)技術(shù),揭示了六面體機(jī)構(gòu)的移動(dòng)機(jī)理,包括驅(qū)動(dòng)機(jī)制、控制方法、變形能力、移動(dòng)模式等;并通過(guò)運(yùn)動(dòng)副與驅(qū)動(dòng)布局配置技術(shù)實(shí)現(xiàn)了幾何學(xué)多面體向機(jī)構(gòu)學(xué)移動(dòng)機(jī)構(gòu)的映射轉(zhuǎn)化;通過(guò)奇異位置移動(dòng)轉(zhuǎn)向控制技術(shù)實(shí)現(xiàn)機(jī)構(gòu)的移動(dòng)功能與轉(zhuǎn)向功能�；�于本論文的研究工作,清楚地闡釋了新概念可變形六面體地面移動(dòng)機(jī)構(gòu)的設(shè)計(jì)理念,同時(shí)該類(lèi)機(jī)構(gòu)所具有的全姿態(tài)移動(dòng)能力與變形能力揭示了其應(yīng)用潛力,為后續(xù)提升機(jī)構(gòu)的移動(dòng)能力以及設(shè)計(jì)具有高通過(guò)性的多面體移動(dòng)平臺(tái)提供了關(guān)鍵技術(shù)。
[Abstract]:With the rapid development of mobile robot technology, the functional requirements of the robot are gradually facing to the unknown complex tasks (such as planet detection, disaster rescue, etc.), thus making more stringent requirements for its mobile capabilities. Complex, reconfigurable and other new concept configuration design methods and techniques are applied to enhance the movement of the robot. In this paper, a new concept of ground moving mechanism, which is suitable for unstructured terrain environment under complex tasks, is used as the research goal. From the perspective of mechanism, the innovative design of the structure and the thought of the deformation robot are fused. The structure of a series of deformable mechanisms with six sides as geometric shape is proposed by using the flexible characteristics of the linkage mechanism. In this paper, the original concept of a deformable hexahedron ground moving mechanism is proposed in this paper. The essence is that the complex spatial linkage with a hexahedron shape is composed of the mechanical body of a mobile machine through mapping design. Based on this idea, the paper will be six sides. According to the classification of hexahedron, triangulated hexahedron and corrugated truncated hexahedron, the deformable positive hexahedron ground moving mechanism is constructed based on three geometric shapes, and the deformable trigonometric hexahedron ground moving mechanism and the deformable truncated hexahedron ground moving mechanism are deformable, and the new concept configuration design and the robot deformation technology are respectively presented. Based on the topological structure and geometric shape of hexahedron, the activity of the multi degree of freedom space mechanism is analyzed. The moving gait planning is carried out through the motion analysis of large deformation, and the multi-faceted mobile mechanism with the new concept configuration design and the thought of the deformed robot is developed. The specific contents are as follows: (1) A new concept deformable rolling mechanism with a positive hexahedral geometry. The mechanism body is a spatial linkage with 14 rods and 16 pairs. The whole is composed of two platforms and four branching chains. The appearance is a pair of parallelogram with a pair of spatial orthogonal designs, which can move all directions through the roll gait under the control of two drives. (2 A 3 degree of freedom deformable triangulated hexahedral mechanism is proposed. Based on the 3-URU parallel mechanism, a special URU branch structure is designed to make the movement of the mechanism through the control of 3 rotating pairs. Through the kinematic analysis of the mechanism, the deformation and rolling principle of the robot in the same step of three branches are introduced. (3) A new type of rolling mechanism with external geometric shape is proposed. By changing the configuration scheme of the motion pair, a new configuration of different deformation characteristics and rolling mode is obtained. In the design method, a new conceptual mechanism with geometric shape of a polyhedron is constructed with geometric shape as the basic unit. This kind of mechanism has a truncation of six. The geometric shape features of the surface can realize the whole deformation of the mechanism by controlling the actuator and realize the rolling function of the mechanism. In general, this paper is based on the configuration design of the mechanism, the motion analysis and gait planning, the simulation analysis of the virtual prototype, the development of the principle prototype and the experimental research, and the deformation of the deformable hexahedral ground mobile mechanism. The design and analysis method of the geometric hexahedron is mapped into a deformable ground moving mechanism. Based on the structure and functional requirements of the mechanism, a series of new conceptions of the deformable hexahedral mobile mechanism are proposed based on the mechanism of the structural design and the design technology of the deformable mobile robot. The design is the design method of the ground moving mechanism, and the movement mechanism of the hexahedral mechanism, including the driving mechanism, the control method, the deformability and the moving mode, is revealed by the design technique of the deformable robot, and the mapping and transformation of the geometric polyhedron to the mechanism mechanism by the motion pair and the driving configuration technology are realized. Based on the research work of this paper, the design concept of the new concept deformable hexahedral ground mobile mechanism is clearly explained. At the same time, the full attitude movement and deformability of this kind of mechanism have revealed its application potential for the follow-up hoist. The mobile capabilities of the structure and the design of the high mobility polyhedron mobile platform provide the key technology.
【學(xué)位授予單位】：北京交通大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

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