一种全向移动攀爬机器人的设计
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摘要
为提高机器人在特定场地移动的灵活性和沿柱面攀爬的能力,对传统竞赛机器人从移动方式、储能方式、工作方式三方面进行全面改进,设计并制作出一种在特定工作环境下,支持全向移动并兼有沿柱面攀爬的气动型机器人。该机器人采用3个全向轮搭建系统的运动机构,通过优化的坐标变换方式控制3个运动伺服电机,实现平台的全向移动;当运动平台检测到目标柱体时,前置压力开关自动切换运动模式,气动装置推动攀爬机构压紧柱体,机器人进入自动攀爬状态。系统采用了"两主一从"攀爬方式,攀爬速度和精度均达到了预期目标。经过Matlab/Simulink仿真与实物现场测试,全向移动平均方向偏差达0.82°、攀爬高度偏差率达0.68%。实验结果验证了设计的有效性与控制的精准性,对提高竞赛机器人的性能具有一定的参考价值。
To get the flexibility of the robot to move in a particular field and ability to climb along the cylinder,the traditional contest robot is improved fully from three aspects of movement pattern,energy storage mode,and work mode.A pneumatic robot that supports omni-directional mobile and moving along the cylinder in a specific work environment is designed and produced. The robot uses three omni-directional wheels to realize motion,which is controlled by three servomotors,and optimized by the coordinate transformation,Thus,the omni-directional movement is achieved. When the movement platform detects the target cylinder,the front pressure switch automatically switches the movement mode,the pneumatic device drives the climbing mechanism to press the cylinder,and the robot enters the automatic climbing state. The system adopts the "two active one slave"climbing method,and the climbing speed and precision all reach the expected target. By using Matlab/Simulink simulation and physical field test,average direction deviation of omnidirectional is 0. 82°,climbing height deviation rate is 0. 68%. The experimental results validate the effectiveness of the design and the precision of the control,and it has a certain reference value for improving the performance of the competition robot.
To get the flexibility of the robot to move in a particular field and ability to climb along the cylinder,the traditional contest robot is improved fully from three aspects of movement pattern,energy storage mode,and work mode.A pneumatic robot that supports omni-directional mobile and moving along the cylinder in a specific work environment is designed and produced. The robot uses three omni-directional wheels to realize motion,which is controlled by three servomotors,and optimized by the coordinate transformation,Thus,the omni-directional movement is achieved. When the movement platform detects the target cylinder,the front pressure switch automatically switches the movement mode,the pneumatic device drives the climbing mechanism to press the cylinder,and the robot enters the automatic climbing state. The system adopts the "two active one slave"climbing method,and the climbing speed and precision all reach the expected target. By using Matlab/Simulink simulation and physical field test,average direction deviation of omnidirectional is 0. 82°,climbing height deviation rate is 0. 68%. The experimental results validate the effectiveness of the design and the precision of the control,and it has a certain reference value for improving the performance of the competition robot.
引文
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[3]孙清.基于强化学习的多智能体协同机制研究[D].杭州:浙江工业大学,2015.
[4]姚冬冬,闵华松.三轮全向移动机器人的研究与设计[J].计算机工程与设计,2013,34(6):2163-2169.
[5]胡峰,骆德渊.基于Simulink/Sim Mechanics的三自由度并联机器人控制系统仿真[J].自动化与仪器仪表,2012(5):221-223.
[6]刘云龙,王瑞兰,刘丽君,等.基于Matlab仿真的自动控制原理实验教学改革[J].实验室研究与探索,2015(6):103-106.
[7]刘守生,吴珩,王雷刚,等.气动控制单元支架背压成形工艺研究及数值模拟分析[J].精密成形工程,2016,7(4):28-32.
[8]陈明森.爬杆机器人运动原理及动力学研究[D].武汉:武汉理工大学,2009.
[9]陈滨.分析动力学[M].2版.北京:北京大学出版社,2012.
[10]汤天浩.电机与拖动基础[M].北京:机械工业出版社,2011.
[11]刘火良.单片机与嵌入式:STM32库开发实战指南[M].北京:机械工业出版社,2013.
[12]宋跃,杨雷,雷瑞庭,等.基于ARM9与LINUX的RS485总线的通信接口设计[J].仪表技术与传感器,2014(5):35-37.
[13]张伟,陈迎.智能小车系统的设计[J].实验室研究与探索,2011(9):53-61.
[14]谢志诚.三轮全向移动机器人运动控制研究[D].长沙:长沙理工大学,2010.
[15]陈旭东,孔令成,刘尊朋.基于全向轮的机器人移动机构运动分析与控制设计[J].测控技术,2010,31(1):48-56.
[16]侯文琦,王剑.输电线路除冰机器人机构设计与动力学仿真[J].机械与电子,2009(10):52-55.