仿水黾机器人机构及性能分析研究
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摘要
水黾可以在水面上停留并具有快速滑行和跳跃的活动机能。受水黾启发,人们对在水面这一非结构环境下能快速移动的仿水黾机器人的研究产生了浓厚兴趣。仿水黾机器人以其效率高、机动性好、噪音低、对环境扰动小的优势将在军事侦察、环境监测、水体检测、地下管网检测等军事和民用等方面得到广泛应用。因此,开展仿水黾机器人的研究将具有重要的理论意义和实际应用价值。本文基于功能仿生原理,提出一种新型具有一定负载能力的仿水黾机器人新构型,从运动学和动力学建模与分析、水力学建模与分析、运动仿真分析和模态分析、刚-柔耦合驱动系统动力学建模与仿真、样机研制与控制系统设计以及实验等进行了系统的分析与研究,取得了一定创新性的研究成果。
1.在研究仿生原型水黾结构及运动特性基础上,提出一种三自由度输入并联解耦划水驱动仿水黾机器人新构型,建立驱动机构运动学与动力学模型、划水运动平衡性条件及机构参数综合条件,为机器人样机设计制作提供理论基础。该机器人以三个电磁铁作为驱动通过解耦控制两驱动腿实现划水运动控制,两驱动腿以差动方式实现零半径转弯运动,与电机方案相比,该机器人以电磁铁二元逻辑控制替代电机复杂伺服驱动,其具有驱动数量少、结构简单、易微小型化、机动性好、转弯灵活、划水效率高、控制简单等特点。
2.考虑仿水黾机器人仿生原形特点,提出仿水黾机器人结构设计原则,建立机器人虚拟样机仿真模型,进行驱动机构运动学仿真分析和各旋转副受力情况及机构运动能量曲线分析,验证机构设计合理性,指出结构设计的薄弱环节,为物理样机结构设计和改进提供理论依据。
3.考虑仿水黾机器人划水频率与共振问题,研究机器人的仿真模态特性,重点分析机器人划水腿、驱动机构、整机的固有频率及相对位移云图和相对应力云图,分析虚拟样机结构设计中的薄弱环节,指出机器人运动应避开的工作频率,为机器人的结构改进设计和控制提供理论依据。
4.考虑仿水黾机器人在水面环境工作这一特征,研究水对机器人运动的作用规律,建立仿水黾机器人漂浮平衡稳定性条件、机器人划水腿流场表达式、驱动机构水动力学表达式和机器人划水运动的水动力学表达式,为机器人结构设计和实际控制提供理论依据。
5.考虑仿水黾机器人驱动系统中轻型薄壁材料构件引起的小幅度柔性变形问题,本文提出将机器人驱动系统视为为刚-柔耦合多体机器人驱动系统的处理方法,建立考虑水接触力约束函数的机器人刚-柔耦合驱动系统动力学模型并进行仿真分析研究,结果表明划水腿小幅度柔性变形将影响机器人划水板的划水轨迹,该研究成果将为机器人今后实现高速运动控制和精确运行轨迹路线奠定理论基础。
6.在上述理论研究基础上,研制仿水黾机器人样机,在实验室环境下对仿水黾机器人进行水面前进、转弯、负重实验,实验结果验证了本文提出的仿水黾机器人三自由度输入并联解耦划水驱动机构的有效性和本文理论分析的正确性,该机器人具有良好的速度响应特性、运动灵活性,划水效率高、控制简单方便。
Water strider is a kind of insect that has the active function of staying, sliding and leaping on water surface. Enlightened by this kind of insect, people become more and more interest on the water strider robot, which can move fast on the unstructured water surface. With the advantages such as high efficiency, good mobility, lower noise and little disturb to the environment, water strider robot will applies to military and civil area such as military reconnaissance, environmental monitoring and water examination. Therefore, the research of water strider robot has theoretical significance and practical value. Based on the bionic function principle, this paper proposed a kind of new floating type of water strider robot structure that has a certain load capacity, and carried on systematic analysis and research on several perspectives: the prototyped analysis of modeling, kinematics, and the hydraulics, virtual prototypical robot movement simulation and the model analysis, the rigid-flexible coupling driving system dynamics question the modeling and simulation, the prototypical manufacture and the design and experiment of the control system and so on. Therefore, certain innovative research results have been obtained.
1. Based on the research of structure and motion characteristic of water strider, this paper proposed a new kind of water strider robot parallel driving mechanism, namely three degrees of freedom inputs parallel decoupling water movement of driving mechanism, established kinematics and dynamics model of the parallel driving mechanisms ,the balance conditions of rowing and the most optimization parameters comprehensive conditions of robot’s driving mechanism, and thus provided the theory fundamentals for the final manufacture of the robot prototype.
2. Considering the bionic original shape characteristics of bionic water stride robot, this paper proposed the structure design principle of water stride robot, established virtual prototype simulation model of the robot, analyzed the driving mechanism kinematics simulation, condition of every rotating side force and curve of the mechanism kinematics energy, verified rationality of mechanism design, pointed out weak links of structure design, and finally offered theoretical basis of the structure design and improvement of the robot.
3. Considering bionic water stride robot’s frequency of rowing and resonance problem, this paper studied simulation model characteristics of the robot, emphasized on robot’s rowing legs, driving mechanism, the whole machine natural frequency and displacement and stress cloud pictureare, analyzed weakness of the fictitious prototype structure, pointed out working frequency that should be avoided, and therefore offered theoretical basis of structure design and control of the robot.
4. Considering the characteristic that the bionic water strider robot is working on water surface, the paper researched the water effects on the action regularity of the robot and the relationship between the shape of rowing leg and the rowing performance. The paper also established the stability condition for the floating water strider robot, the flow field expression of the rowing leg, and the hydrodynamic expression of the driving mechanism and the rowing action of the robot. In the end, the theoretical basis of structure design and control of the dynamic expression of the water stride robot has been offered.
5. Considering the small amplitude flexible vibration caused by the light and thin components in the drive system of the bionic water strider robot, this paper put forward that the drive system of the robot is regarded as a flexible driving system of a rigid-flexible coupling multi-body robot, established dynamic model of the rigid-flexible coupled driving system which considers the constraint function of the contact force with water. The results showed that the small amplitude flexible vibration of the rowing board would influence the motion trajectory of the rowing board. This research result will provide a theoretical foundation for the high speed motion controlling and the accurate operational path controlling of the robot in the future.
6. Based on above theories,the paper developed a physical prototype of water strider robot, did experiments on the water strider robot while moving forward, turning and withstanding some load of work on the water surface under the circumstance of the laboratory. The experiments results verified the effectiveness of the three degrees freedom input of parallel decoupling rowing driving mechanism and the correctness of the theory analysis about water strider robot in this paper. At last, it appeared that the water stride robot in this paper has good velocity response characteristics, motion flexibility, high rowing efficiency and convenient control.
1.在研究仿生原型水黾结构及运动特性基础上,提出一种三自由度输入并联解耦划水驱动仿水黾机器人新构型,建立驱动机构运动学与动力学模型、划水运动平衡性条件及机构参数综合条件,为机器人样机设计制作提供理论基础。该机器人以三个电磁铁作为驱动通过解耦控制两驱动腿实现划水运动控制,两驱动腿以差动方式实现零半径转弯运动,与电机方案相比,该机器人以电磁铁二元逻辑控制替代电机复杂伺服驱动,其具有驱动数量少、结构简单、易微小型化、机动性好、转弯灵活、划水效率高、控制简单等特点。
2.考虑仿水黾机器人仿生原形特点,提出仿水黾机器人结构设计原则,建立机器人虚拟样机仿真模型,进行驱动机构运动学仿真分析和各旋转副受力情况及机构运动能量曲线分析,验证机构设计合理性,指出结构设计的薄弱环节,为物理样机结构设计和改进提供理论依据。
3.考虑仿水黾机器人划水频率与共振问题,研究机器人的仿真模态特性,重点分析机器人划水腿、驱动机构、整机的固有频率及相对位移云图和相对应力云图,分析虚拟样机结构设计中的薄弱环节,指出机器人运动应避开的工作频率,为机器人的结构改进设计和控制提供理论依据。
4.考虑仿水黾机器人在水面环境工作这一特征,研究水对机器人运动的作用规律,建立仿水黾机器人漂浮平衡稳定性条件、机器人划水腿流场表达式、驱动机构水动力学表达式和机器人划水运动的水动力学表达式,为机器人结构设计和实际控制提供理论依据。
5.考虑仿水黾机器人驱动系统中轻型薄壁材料构件引起的小幅度柔性变形问题,本文提出将机器人驱动系统视为为刚-柔耦合多体机器人驱动系统的处理方法,建立考虑水接触力约束函数的机器人刚-柔耦合驱动系统动力学模型并进行仿真分析研究,结果表明划水腿小幅度柔性变形将影响机器人划水板的划水轨迹,该研究成果将为机器人今后实现高速运动控制和精确运行轨迹路线奠定理论基础。
6.在上述理论研究基础上,研制仿水黾机器人样机,在实验室环境下对仿水黾机器人进行水面前进、转弯、负重实验,实验结果验证了本文提出的仿水黾机器人三自由度输入并联解耦划水驱动机构的有效性和本文理论分析的正确性,该机器人具有良好的速度响应特性、运动灵活性,划水效率高、控制简单方便。
Water strider is a kind of insect that has the active function of staying, sliding and leaping on water surface. Enlightened by this kind of insect, people become more and more interest on the water strider robot, which can move fast on the unstructured water surface. With the advantages such as high efficiency, good mobility, lower noise and little disturb to the environment, water strider robot will applies to military and civil area such as military reconnaissance, environmental monitoring and water examination. Therefore, the research of water strider robot has theoretical significance and practical value. Based on the bionic function principle, this paper proposed a kind of new floating type of water strider robot structure that has a certain load capacity, and carried on systematic analysis and research on several perspectives: the prototyped analysis of modeling, kinematics, and the hydraulics, virtual prototypical robot movement simulation and the model analysis, the rigid-flexible coupling driving system dynamics question the modeling and simulation, the prototypical manufacture and the design and experiment of the control system and so on. Therefore, certain innovative research results have been obtained.
1. Based on the research of structure and motion characteristic of water strider, this paper proposed a new kind of water strider robot parallel driving mechanism, namely three degrees of freedom inputs parallel decoupling water movement of driving mechanism, established kinematics and dynamics model of the parallel driving mechanisms ,the balance conditions of rowing and the most optimization parameters comprehensive conditions of robot’s driving mechanism, and thus provided the theory fundamentals for the final manufacture of the robot prototype.
2. Considering the bionic original shape characteristics of bionic water stride robot, this paper proposed the structure design principle of water stride robot, established virtual prototype simulation model of the robot, analyzed the driving mechanism kinematics simulation, condition of every rotating side force and curve of the mechanism kinematics energy, verified rationality of mechanism design, pointed out weak links of structure design, and finally offered theoretical basis of the structure design and improvement of the robot.
3. Considering bionic water stride robot’s frequency of rowing and resonance problem, this paper studied simulation model characteristics of the robot, emphasized on robot’s rowing legs, driving mechanism, the whole machine natural frequency and displacement and stress cloud pictureare, analyzed weakness of the fictitious prototype structure, pointed out working frequency that should be avoided, and therefore offered theoretical basis of structure design and control of the robot.
4. Considering the characteristic that the bionic water strider robot is working on water surface, the paper researched the water effects on the action regularity of the robot and the relationship between the shape of rowing leg and the rowing performance. The paper also established the stability condition for the floating water strider robot, the flow field expression of the rowing leg, and the hydrodynamic expression of the driving mechanism and the rowing action of the robot. In the end, the theoretical basis of structure design and control of the dynamic expression of the water stride robot has been offered.
5. Considering the small amplitude flexible vibration caused by the light and thin components in the drive system of the bionic water strider robot, this paper put forward that the drive system of the robot is regarded as a flexible driving system of a rigid-flexible coupling multi-body robot, established dynamic model of the rigid-flexible coupled driving system which considers the constraint function of the contact force with water. The results showed that the small amplitude flexible vibration of the rowing board would influence the motion trajectory of the rowing board. This research result will provide a theoretical foundation for the high speed motion controlling and the accurate operational path controlling of the robot in the future.
6. Based on above theories,the paper developed a physical prototype of water strider robot, did experiments on the water strider robot while moving forward, turning and withstanding some load of work on the water surface under the circumstance of the laboratory. The experiments results verified the effectiveness of the three degrees freedom input of parallel decoupling rowing driving mechanism and the correctness of the theory analysis about water strider robot in this paper. At last, it appeared that the water stride robot in this paper has good velocity response characteristics, motion flexibility, high rowing efficiency and convenient control.
引文
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