一种形变移动机器人智能转向过程研究
|
摘要
针对链式转向半径大、转向时间长的问题,基于形变移动机器人所具备的形状可变性的特异性能,提出了在直线构型的情况下按照滑移的方式来实现智能转向的设计模式。通过对转向过程中设计的参量进行处理,对主体结构滑移过程的分解和剖析,建立了对应的受力模型,分析了其运动学及动力学特征,计算了变形阻力矩及所需的牵引力等。通过实验分析,结果表明,该方案有效减小了机器人旋转半径和转向时间,增大了转动过程的效率和效果。该方法用于形变移动机器人智能转向控制是可行的、有效的。
Based on the chained turning problems of big turning radius and long turning time as well as the deformable mobile robot's special function of deformation,an intelligent turning design model is proposed according to the sliding way under the condition of the linear structure. By processing the design parameters of turning processes,separating and analyzing of main sliding process of the major structure,it establishes corresponding mechanical models,analyzes kinematic and dynamic characteristics,calculates the moment of deformation resistance and the required traction and etc. Through experimental analysis,the results show that the proposed plan effectively reduces the turning radius and time of the robot,increases the efficiency and effect of turning processes. This method is feasible and effective when being used in the intelligent turning control of deformable mobile robot.
Based on the chained turning problems of big turning radius and long turning time as well as the deformable mobile robot's special function of deformation,an intelligent turning design model is proposed according to the sliding way under the condition of the linear structure. By processing the design parameters of turning processes,separating and analyzing of main sliding process of the major structure,it establishes corresponding mechanical models,analyzes kinematic and dynamic characteristics,calculates the moment of deformation resistance and the required traction and etc. Through experimental analysis,the results show that the proposed plan effectively reduces the turning radius and time of the robot,increases the efficiency and effect of turning processes. This method is feasible and effective when being used in the intelligent turning control of deformable mobile robot.
引文
[1]庄皓岚,颜国正,王志武,等.多节履带式机器人系统组成和越障性能研究[J].计算机测量与控制,2013,32(8):59-62.
[2]MURATA S,YOSHIDA E,KAMIMURA A,et al.M-TRANSelf-Reconfigurable Modular Robotic System[J].IEEE/ASME Transactions on Mechatronics,2012,7(4):431-441.
[3]YIM M,DUFF D,ROUFAS K.Poly Bot a modular reconfigurable robot[J].Proceedings of the IEEE International Conference on Robotics and Automation,2013,3(6):223-229.
[4]LI B,MA S G,LIU J G,et al.AMOEBA-I A Shape-Shifting Modular Robot for Urban Search and Rescue[J].Advanced Robotics,2014,23(9):1057-1083.
[5]曹燕军,葛为民,张华瑾.一种新型模块化自重构机器人结构设计与仿真研究[J].机器人,2013,35(5):568-575.
[6]吴正兴,喻俊志,苏宗帅,等.仿生机器鱼S形起动的控制与实现[J].自动化学报,2013,39(11):113-118.
[7]刘同林,吴成东,李斌.可变形机器人协同变形方法[J].机械工程学报,2010,46(3):109-115.
[8]LIU J G,MA S G,WANG Y C,et al.Configuration and Mobility Research for a Link-type Reconfigurable Robot.Asia Pacific Conference on Circuits and Systems[C].Macao,China:Macao University of Macau,2013.
[9]JIANG X,SIAMAS G A,JAGUS K,et al.Physical modelling and advanced simulations of gas-liquid two-phase jet flows in atomization and sprays[J].Progress in Energy and Combustion Science,2010,36(2):131-167.
[10]PRAT J,ANTONIJUAN J,FOLCH A,et al.A simplified model of the interaction of the trawl warps,the otterboards and netting drag[J].Fisheries Research,2014,94(1):109-117.
[11]王楠,吴成东,王明辉,等.可变形灾难救援机器人控制站系统的设计与实现[J].机器人,2011,33(2):202-207.
[12]金钰飞,楼佩煌,钱晓明,等.开放式折弯机器人控制系统及其折弯跟随技术研究[J].计算机应用,2013,35(24):23-25.
[2]MURATA S,YOSHIDA E,KAMIMURA A,et al.M-TRANSelf-Reconfigurable Modular Robotic System[J].IEEE/ASME Transactions on Mechatronics,2012,7(4):431-441.
[3]YIM M,DUFF D,ROUFAS K.Poly Bot a modular reconfigurable robot[J].Proceedings of the IEEE International Conference on Robotics and Automation,2013,3(6):223-229.
[4]LI B,MA S G,LIU J G,et al.AMOEBA-I A Shape-Shifting Modular Robot for Urban Search and Rescue[J].Advanced Robotics,2014,23(9):1057-1083.
[5]曹燕军,葛为民,张华瑾.一种新型模块化自重构机器人结构设计与仿真研究[J].机器人,2013,35(5):568-575.
[6]吴正兴,喻俊志,苏宗帅,等.仿生机器鱼S形起动的控制与实现[J].自动化学报,2013,39(11):113-118.
[7]刘同林,吴成东,李斌.可变形机器人协同变形方法[J].机械工程学报,2010,46(3):109-115.
[8]LIU J G,MA S G,WANG Y C,et al.Configuration and Mobility Research for a Link-type Reconfigurable Robot.Asia Pacific Conference on Circuits and Systems[C].Macao,China:Macao University of Macau,2013.
[9]JIANG X,SIAMAS G A,JAGUS K,et al.Physical modelling and advanced simulations of gas-liquid two-phase jet flows in atomization and sprays[J].Progress in Energy and Combustion Science,2010,36(2):131-167.
[10]PRAT J,ANTONIJUAN J,FOLCH A,et al.A simplified model of the interaction of the trawl warps,the otterboards and netting drag[J].Fisheries Research,2014,94(1):109-117.
[11]王楠,吴成东,王明辉,等.可变形灾难救援机器人控制站系统的设计与实现[J].机器人,2011,33(2):202-207.
[12]金钰飞,楼佩煌,钱晓明,等.开放式折弯机器人控制系统及其折弯跟随技术研究[J].计算机应用,2013,35(24):23-25.