越障碍机器人的研究与分析
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摘要
机器人技术是21世纪的研究热点之一,机器人不仅可以在特殊的环境下工作,将人类从繁重和单调的劳动中解放出来,而且还能提高劳动生产率降低成本。越障机器人的研究,对扩展机器人的作业空间,在人不能达到或不便到达的环境中进行作业,具有重要的意义。本文讨论的是关于机器人越障的机构运动学的分析和驱动控制技术的研究。
论文采用理论分析、计算机仿真和实验分析相结合的方法完成了以下工作:按照越障要求,设计了行星轮越障机器人,并对越障机构进行了机构运动学的分析;建立了越障机器人跨越障碍时不同时期的运动学模型,并分别其进行了计算机仿真与分析;完成了越障机器人的驱动控制系统和避障系统的设计与开发;利用所研制的机器人针对多种不同的障碍进行了跨越实验。
根据越障机器人的运动学分析、计算机仿真和越障实验,论文得出了以下主要结论:
(1)、采用行星轮作为机器人的越障机构,可以使机器人较为方便地跨越不同的障碍,具有较强的越障能力,且越障机构比较简单。
(2)、在机器人跨越障碍过程中,针对不同越障阶段分别进行了运动学分析,并建立了相应的轨迹方程、速度方程和加速度方程,描述了机器人的越障状态,为越障机器人的运动学计算机仿真奠定了基础。
(3)、以运动学分析为基础,利用MATLAB对机器人越障进行了仿真,分析了越障机器人的运动规律,以及相关的机构参数对机器人越障能力的影响,计算机的运动学仿真结果与机构学分析和运动学分析结果基本一致,从而验证了运动学理论分析的正确性。
(4)、设计了越障机器人的驱动与控制系统,可以较好地满足越障机器人的工作要求,利用超声波测距的方法,能够较好地实现机器人的避障功能。
通过机器人的机构运动学分析及其计算机仿真表明:行星轮越障机器人具有较大的越障范围,越障机构相对简单,驱动与控制系统可靠性较高,具有较好的实用价值。
The robot technology is one of 21st century research hotspots, not only the robot may work in the special environment, liberates the humanity from the arduous and monotonous work, but also enhances the labor productivity to reduce the cost. This research of the robot which surmounts the barrier, has the vital significance, on expanding the work space of the robot, in the environment which the human cannot achieve or arrive inconveniently. The mechanism、the kinematics and technology researches of the drive and control had been researched in this study.
The research had been completed by unified method which used theoretical analysis, computer simulation and experiment analysis in this study : According to the requests of surmounting barrier, the surmounting barrier robot had been designed by planet gear structure, and the mechanics of the surmounting barrier robot had been analyzed; surmounting the different barrier the kinematics model had been established for different kinds of barrier, the computer simulation and its analysis had been completed; the driving & control system and avoiding system of the surmounting barrier robot had been designed and developed; A lot of experimentation had been finished by developed robot according to the different surmounting barrier robot.
According to the kinematic analysis, computer simulation and the barrier experiments of the surmounting barrier robot, some conclusions were obtained as follow:
(1)It is easier to surmount the different barrier and more simple to control the robot by means of the planet gear for surmounting the barrier.
(2)During the robot surmounted the different barrier, kinematic analysis is finished and some corresponding path equations, speed equations and acceleration equations are established, then the surmounting the barrier states are described, and has laid the foundation for the surmounting barrier robot computer simulation.
(3)On bases of the robot kinematic analysis, a simulation of the surmounting barrier robot is completed by the MATLAB, and the surmounting obstacle robot, has analyzed law of motion and the kinematic law of the surmounting barrier robot is analyzed, and the effects of the robot surmounting obstacle capability by same correspond mechanic parameter are studied. The results of computer kinematic simulation are accord with the results of mechanics, and then the accuracy of the theoretical analysis is validated.
(4)The driving and control system are designed, and these system can satisfy requirement of the robot, and avoiding barrier foundation is realitied by ultrasonic ranging method.
Through the robot mechanism analysis, kinematic analysis and computer simulation indicate that: the surmounting barrier robot by planet gear has more capacity of surmounted barrier, and the surmounted barrier structure is more simple, The driving and control system has more relatively, and has more practical value
论文采用理论分析、计算机仿真和实验分析相结合的方法完成了以下工作:按照越障要求,设计了行星轮越障机器人,并对越障机构进行了机构运动学的分析;建立了越障机器人跨越障碍时不同时期的运动学模型,并分别其进行了计算机仿真与分析;完成了越障机器人的驱动控制系统和避障系统的设计与开发;利用所研制的机器人针对多种不同的障碍进行了跨越实验。
根据越障机器人的运动学分析、计算机仿真和越障实验,论文得出了以下主要结论:
(1)、采用行星轮作为机器人的越障机构,可以使机器人较为方便地跨越不同的障碍,具有较强的越障能力,且越障机构比较简单。
(2)、在机器人跨越障碍过程中,针对不同越障阶段分别进行了运动学分析,并建立了相应的轨迹方程、速度方程和加速度方程,描述了机器人的越障状态,为越障机器人的运动学计算机仿真奠定了基础。
(3)、以运动学分析为基础,利用MATLAB对机器人越障进行了仿真,分析了越障机器人的运动规律,以及相关的机构参数对机器人越障能力的影响,计算机的运动学仿真结果与机构学分析和运动学分析结果基本一致,从而验证了运动学理论分析的正确性。
(4)、设计了越障机器人的驱动与控制系统,可以较好地满足越障机器人的工作要求,利用超声波测距的方法,能够较好地实现机器人的避障功能。
通过机器人的机构运动学分析及其计算机仿真表明:行星轮越障机器人具有较大的越障范围,越障机构相对简单,驱动与控制系统可靠性较高,具有较好的实用价值。
The robot technology is one of 21st century research hotspots, not only the robot may work in the special environment, liberates the humanity from the arduous and monotonous work, but also enhances the labor productivity to reduce the cost. This research of the robot which surmounts the barrier, has the vital significance, on expanding the work space of the robot, in the environment which the human cannot achieve or arrive inconveniently. The mechanism、the kinematics and technology researches of the drive and control had been researched in this study.
The research had been completed by unified method which used theoretical analysis, computer simulation and experiment analysis in this study : According to the requests of surmounting barrier, the surmounting barrier robot had been designed by planet gear structure, and the mechanics of the surmounting barrier robot had been analyzed; surmounting the different barrier the kinematics model had been established for different kinds of barrier, the computer simulation and its analysis had been completed; the driving & control system and avoiding system of the surmounting barrier robot had been designed and developed; A lot of experimentation had been finished by developed robot according to the different surmounting barrier robot.
According to the kinematic analysis, computer simulation and the barrier experiments of the surmounting barrier robot, some conclusions were obtained as follow:
(1)It is easier to surmount the different barrier and more simple to control the robot by means of the planet gear for surmounting the barrier.
(2)During the robot surmounted the different barrier, kinematic analysis is finished and some corresponding path equations, speed equations and acceleration equations are established, then the surmounting the barrier states are described, and has laid the foundation for the surmounting barrier robot computer simulation.
(3)On bases of the robot kinematic analysis, a simulation of the surmounting barrier robot is completed by the MATLAB, and the surmounting obstacle robot, has analyzed law of motion and the kinematic law of the surmounting barrier robot is analyzed, and the effects of the robot surmounting obstacle capability by same correspond mechanic parameter are studied. The results of computer kinematic simulation are accord with the results of mechanics, and then the accuracy of the theoretical analysis is validated.
(4)The driving and control system are designed, and these system can satisfy requirement of the robot, and avoiding barrier foundation is realitied by ultrasonic ranging method.
Through the robot mechanism analysis, kinematic analysis and computer simulation indicate that: the surmounting barrier robot by planet gear has more capacity of surmounted barrier, and the surmounted barrier structure is more simple, The driving and control system has more relatively, and has more practical value
引文
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[8] 曲继方,安子军,曲志刚.机构创新新原理[M].北京:科学出版社.2001.
[9] 孟宪源.现代机构手册[M].北京:机械工业出版社.1994.
[10] 姜琪.机械运动方案及机构设计—机械原理课程设计题例及指导.北京:高等教育出版社.1991.
[11] 张建民.机电一体化系统设计[M].北京:北京理工大学出版社.1995.
[12] 高海波,邓宗全,王少纯,胡明.行星轮式月球车动力学分析[J].黑龙江:哈尔滨工业大学学报.2005 年,第 1 期,第 37 卷, P3 1 ~ P36.
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[14] 胡敏强,金龙,顾菊平编著. 超声波电机原理与设计.北京:科学出版社.2005.
[15] 田志宏,曹建光,刘秀红.超声波传感器在电动轮椅车上的应用研究[J]. 传感技术学报. 2007 年,第 03 期, P1 5 ~ P18.
[16] 罗伟,陈峰.基于小波变换的机器人超声波测距误差补偿研究[J].煤矿机械.2007 年,第 2 期, p8 ~ p13.
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[18] 刘鸿文.材料力学.高等教育出版社.1991.
[19] 冯建农,柳明,吴捷.自主机器人智能导航研究进展[J].机器人.1997年,第 5 期, P1 4 ~ P16.
[20] 霍迎辉,张连明,杨宜民.移动机器人路径规划的最短切线路径算法[J].广东自动化与信息工程.2003 年,第 1 期. P1 0 ~ P12.
[21] 电机工程手册编辑委员会.机械工程手册.机械工业出版社.
[22] 蔡自兴,谢光汉,伍朝晖等.直接在位置控制机器人实现力/位置自 适应模糊控制[J].机器人.1998 年,第 7 期, P5 ~ P10.
[23] 徐轶轲,刘强.两自由度并联机构动力学分析及其控制补偿策略[J]. 机械工程师.2006 年,第 02 期 , p2 0 ~ p23.
[24] 成大先.机械设计手册-机械传动.北京:化工出版社.1999.
[25] 满浩,张玉洁.步行机动力学与控制集成仿真方法,应用科技与实例分析[C].2001(8).
[26] 李丽娜,柳洪义,宁晓霞.Matlab 在机器人图形仿真系统中的应用[J]. 机械与电子.2006 年,第 01 期, P2 2 ~ P24.
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[28] 张志涌.精通 MATLAB6.5 版.北京:北京航空航天大学出版社.2003.
[29] 高峻斌.MALAB5.0 语言与程序设计[M].武汉:华中理工大学出版社. 1999.
[30] 孙爱萍.工业回转窑窑体变形误差检测系统研制[D].2005 年,江西理工大学硕士论文. P6 0 ~ P73.
[31] 王卫兵,高峻山.可编程序控制器原理及应用[M].机械工业出版社. 2002(7).
[32] 纪良文,蒋静坪.机器人超声测距数据的采集与处理.计算机应用[C]. 2001(4) .
[33] 张铁 李琳 李杞仪.创新思维与设计[M].北京:国防工业出版社.2005.
[34] 李德君. 机器人仿真技术[J]. 现代零部件.2006 年,第 5 期. P6 8 ~ P69
[35] 陈秀宁.机械优化设计[M].杭州:浙江大学出版社.1991.9.
[36] 李学志.计算机辅助设计与绘图.北京:清华大学出版社.2003.
[37] 宏道工作室.Protel 99 电路设计[M].北京:人民出版社.2000.
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