特种地面移动机器人机械系统设计与分析
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摘要
随着现代战争形式的发展,地面移动机器人越来越多的进入各国军队编制。随着移动机器人技术的发展和完善,移动机器人已经从试验室、工厂等结构性环境走向战场、矿区、废墟等复杂地面环境,对移动机器人任务需求也从以往的侦查、排障等发展为防爆、观瞄、火力打击等更为复杂的任务。这要求研制更为广泛多样的任务负载,提高移动机器人的地面通过能力、负载能力、抗冲击能力、越障稳定性以及系统可靠性,这些方向也是国内外近年研究的热点。
本文结合具体项目“某地面武装移动机器人研发”,针对上述使用需求,研发了某型小型地面移动机器人样机,针对该样机在移动机器人设计关键技术、移动底盘履带-地面动力学机理、上层搭载平台分析,多种特殊工作状况下机器人动力学建模等方面展开了研究,并进行了试验研究。
论文首先针对移动机器人的任务需求,采用模块化思想研制了地面移动机器人。介绍了系统构成,分别设计了移动底盘以及两自由度平台、武器定装机械手、重抓取能力机械臂三种上层搭载。移动机器人要求能兼顾在城市道路高速移动及通过废墟或楼梯等非结构路面,对传动系统提出了兼顾高速和大输出力矩两方面要求。结合地面移动机器人的工作状态,分析不同工况下机器人对动力性能的需求,进行了动力匹配计算,在此基础上设计完成了适合地面移动机器人的可变档传动机构研究。解决了高速和大输出力矩的矛盾。
移动机器人底盘是其运动的基础,履带与地面的相互作用又是底盘驱动的根本,研究履带地面相互作用,建立底盘动力学模型是后续研究的前提。本文基于地面力学理论建立了底盘地面动力学模型,该模型分为土壤特征模型、履-土接触模型、底盘驱动动力学模型三部分,其中履-土接触模型最为复杂。普通的转向阻力均匀分布计算模型基于库伦摩擦理论,本文将这种计算方法优化为转向阻力线性分布计算模型并进一步引入应力-应变理论发展为转型阻力非线性连续分布计算方法。提出了基于应力-应变理论的履-土横向应力非线性分布的阻力矩计算方法,满足了建立地面武装移动机器人动力学模型的要求。更真实的反映出履带式小型地面移动机器人的转向阻力。为移动机器人行走系统设计、分析优化奠定了基础。
上层搭载是移动机器人完成任务的执行元件,对它的动力学研究是移动机器人动力学研究不可缺少的部分。实际应用过程中,底盘与上层搭载是不可分割的,二者不仅在结构上有相互关系,还在动力学上相互耦合。搭载上层负载对机器人整体的重心、通过性能带来很大变化；上层搭载的运动状态包括加速度等会对底盘与地面相互关系产生影响。针对两自由度平台、武器定装机械手、重抓取能力机械臂三种上层搭载使用牛顿-欧拉方法建立了运动学、动力学模型。
接下来以配装两自由度平台的移动机器人与地面相互作用、机械臂-底盘系统与地面相互作用、爬越楼梯、冲击扰动四个典型工作状态为例,在上文建立的动力学基础上,对机器人整体动力学问题进行研究。提出了考虑机械臂动态作用的特种移动机器人系统动力学模型,为进一步优化机器人结构、完善控制算法提供了理论依据。爬越楼梯是移动机器人越障的极端工作状态,分析建立了越障过程的详细运动学、动力学建模,分析了重心对越障过程的影响。强烈外部扰动是移动机器人恶劣的工作状况之一,对机器人动态性能的影响非常大,研究起始扰动并指导控制程序,达到了所要求的密集度目的。
最后在所研制的地面移动机器人样机上进行了空载、路面行驶、越障、发射试验,验证了论文所设计机器人的实用性,以及部分理论研究的正确性。
With the gradual improvement in the modern form of warfare, Ground mobile robot is more and more into the national military establishment. With the gradual improvement in the robot technology, application field of the mobile robot become from the indoor structured environment to the outdoor unstructured environment like battlefield, mining area, the ruins etc. The mobile robot task demand from the previous investigation, troubleshooting, development of explosion-proof, sight, firepower more complex tasks such as. The requirements of the development of a more widely varied tasks,some special design and analysis method should be used to improve trafficability, load capacity, impact resistance, stability and reliability of the system obstacle. So in this paper, Research and development of a small Ground-mobile Robotic prototype, In view of the prototype in mobile robot design key technology, mobile vehicle tracks-ground Terramechanics, the upper mounting platform analysis, a variety of special work condition of robot dynamics modeling and other aspects of the research, and experimental research was done.
The mobile robot system is designed by the module partition method which the robot task demand. And then Design a mobile chassis and three upper mounting, Include two degree of freedom platform, weapon equipment mechanical hand, heavy ability of grasping mechanical arm. The mobile robot can both in City Road high-speed mobile and through ruins or stairs unstructured road, on the transmission system is presented both high speed and large output torque of two requirements. Combination of ground mobile robot working condition, analysis under different conditions of robot on dynamic performance requirements, the power matching calculation. On the basis of the design was completed for ground mobile robot with variable gear transmission mechanism research. Solved the contradiction between high speed and large output torque.
Mobile robot chassis is the the base of movement, the track-ground interaction is the basic of vehicle drive. Research of tracked ground interaction, establish chassis dynamics model is the premise of follow-up study. In this paper, based on the theory of theory to build chassis ground dynamics model,Including Soil characteristics and soil model, track-soil contact model, the vehicle driving dynamics model.Which track-soil contact model is most complex. Then the steering resistance torque modeling while lateral resistance and the pressure are linearly distributed is proposed. After that steering resistance moment modeling based on the stress-strain theory is used to describe the robot's steering resistance above different soil. Among them, the lateral resistance is nonlinear distribution. The driving experiments in three different vehicle terramechanics models are simulated and analyzed. Steering resistance moment modeling based on the stress-strain theory is closer to the actual working state of the robot. This modeling method for steering resistance moment has advantage on optimization and study in and control algorithm.
The upper mounting is a mobile robot to complete the task of executing element, its dynamics study of mobile robot is an indispensable part of kinetic research. In the course of practical application, the vehicle and upper mounting is indivisible,not only in structure relation, but also dynamics are coupled to each other. Carrying the load bring great changes on the center of gravity and through performance of the whole robot. The upper mounting movement including acceleration impact on the vehicle-ground mutually. According to the three layer with use of Newton Euler method to establish the kinematics, dynamics model.
Then in four typical work condition is exemple:For two degree of freedom platform of mobile robot with ground interaction, Mechanical arm-the chassis system and ground interaction,Climb the stairs,Emission.In the above set up based on the kinetics of the whole robot. Considering the mechanical arm dynamic role of tracked robot system dynamics model, in order to further optimize the robot structure, improve the control algorithm provides theoretical basis. Climbing stairs is a mobile robot obstacle of extreme working condition,Analysis of the obstacle negotiation kinematics, dynamics modeling process in detail, Analysis of the effect of gravity on negotiation. Emission is one of the bad working condition for mobile robot,the dynamic properties is very large,
Study the initial disturbance on emission, And guide the control program, to achieve the required intensity of purpose.
Finally,several experiments are designed for the ground mobile robot prototype:the no-load test, road test, obstacle test, emission test. These test results validate the analysis results and verified practicability of the design.
本文结合具体项目“某地面武装移动机器人研发”,针对上述使用需求,研发了某型小型地面移动机器人样机,针对该样机在移动机器人设计关键技术、移动底盘履带-地面动力学机理、上层搭载平台分析,多种特殊工作状况下机器人动力学建模等方面展开了研究,并进行了试验研究。
论文首先针对移动机器人的任务需求,采用模块化思想研制了地面移动机器人。介绍了系统构成,分别设计了移动底盘以及两自由度平台、武器定装机械手、重抓取能力机械臂三种上层搭载。移动机器人要求能兼顾在城市道路高速移动及通过废墟或楼梯等非结构路面,对传动系统提出了兼顾高速和大输出力矩两方面要求。结合地面移动机器人的工作状态,分析不同工况下机器人对动力性能的需求,进行了动力匹配计算,在此基础上设计完成了适合地面移动机器人的可变档传动机构研究。解决了高速和大输出力矩的矛盾。
移动机器人底盘是其运动的基础,履带与地面的相互作用又是底盘驱动的根本,研究履带地面相互作用,建立底盘动力学模型是后续研究的前提。本文基于地面力学理论建立了底盘地面动力学模型,该模型分为土壤特征模型、履-土接触模型、底盘驱动动力学模型三部分,其中履-土接触模型最为复杂。普通的转向阻力均匀分布计算模型基于库伦摩擦理论,本文将这种计算方法优化为转向阻力线性分布计算模型并进一步引入应力-应变理论发展为转型阻力非线性连续分布计算方法。提出了基于应力-应变理论的履-土横向应力非线性分布的阻力矩计算方法,满足了建立地面武装移动机器人动力学模型的要求。更真实的反映出履带式小型地面移动机器人的转向阻力。为移动机器人行走系统设计、分析优化奠定了基础。
上层搭载是移动机器人完成任务的执行元件,对它的动力学研究是移动机器人动力学研究不可缺少的部分。实际应用过程中,底盘与上层搭载是不可分割的,二者不仅在结构上有相互关系,还在动力学上相互耦合。搭载上层负载对机器人整体的重心、通过性能带来很大变化；上层搭载的运动状态包括加速度等会对底盘与地面相互关系产生影响。针对两自由度平台、武器定装机械手、重抓取能力机械臂三种上层搭载使用牛顿-欧拉方法建立了运动学、动力学模型。
接下来以配装两自由度平台的移动机器人与地面相互作用、机械臂-底盘系统与地面相互作用、爬越楼梯、冲击扰动四个典型工作状态为例,在上文建立的动力学基础上,对机器人整体动力学问题进行研究。提出了考虑机械臂动态作用的特种移动机器人系统动力学模型,为进一步优化机器人结构、完善控制算法提供了理论依据。爬越楼梯是移动机器人越障的极端工作状态,分析建立了越障过程的详细运动学、动力学建模,分析了重心对越障过程的影响。强烈外部扰动是移动机器人恶劣的工作状况之一,对机器人动态性能的影响非常大,研究起始扰动并指导控制程序,达到了所要求的密集度目的。
最后在所研制的地面移动机器人样机上进行了空载、路面行驶、越障、发射试验,验证了论文所设计机器人的实用性,以及部分理论研究的正确性。
With the gradual improvement in the modern form of warfare, Ground mobile robot is more and more into the national military establishment. With the gradual improvement in the robot technology, application field of the mobile robot become from the indoor structured environment to the outdoor unstructured environment like battlefield, mining area, the ruins etc. The mobile robot task demand from the previous investigation, troubleshooting, development of explosion-proof, sight, firepower more complex tasks such as. The requirements of the development of a more widely varied tasks,some special design and analysis method should be used to improve trafficability, load capacity, impact resistance, stability and reliability of the system obstacle. So in this paper, Research and development of a small Ground-mobile Robotic prototype, In view of the prototype in mobile robot design key technology, mobile vehicle tracks-ground Terramechanics, the upper mounting platform analysis, a variety of special work condition of robot dynamics modeling and other aspects of the research, and experimental research was done.
The mobile robot system is designed by the module partition method which the robot task demand. And then Design a mobile chassis and three upper mounting, Include two degree of freedom platform, weapon equipment mechanical hand, heavy ability of grasping mechanical arm. The mobile robot can both in City Road high-speed mobile and through ruins or stairs unstructured road, on the transmission system is presented both high speed and large output torque of two requirements. Combination of ground mobile robot working condition, analysis under different conditions of robot on dynamic performance requirements, the power matching calculation. On the basis of the design was completed for ground mobile robot with variable gear transmission mechanism research. Solved the contradiction between high speed and large output torque.
Mobile robot chassis is the the base of movement, the track-ground interaction is the basic of vehicle drive. Research of tracked ground interaction, establish chassis dynamics model is the premise of follow-up study. In this paper, based on the theory of theory to build chassis ground dynamics model,Including Soil characteristics and soil model, track-soil contact model, the vehicle driving dynamics model.Which track-soil contact model is most complex. Then the steering resistance torque modeling while lateral resistance and the pressure are linearly distributed is proposed. After that steering resistance moment modeling based on the stress-strain theory is used to describe the robot's steering resistance above different soil. Among them, the lateral resistance is nonlinear distribution. The driving experiments in three different vehicle terramechanics models are simulated and analyzed. Steering resistance moment modeling based on the stress-strain theory is closer to the actual working state of the robot. This modeling method for steering resistance moment has advantage on optimization and study in and control algorithm.
The upper mounting is a mobile robot to complete the task of executing element, its dynamics study of mobile robot is an indispensable part of kinetic research. In the course of practical application, the vehicle and upper mounting is indivisible,not only in structure relation, but also dynamics are coupled to each other. Carrying the load bring great changes on the center of gravity and through performance of the whole robot. The upper mounting movement including acceleration impact on the vehicle-ground mutually. According to the three layer with use of Newton Euler method to establish the kinematics, dynamics model.
Then in four typical work condition is exemple:For two degree of freedom platform of mobile robot with ground interaction, Mechanical arm-the chassis system and ground interaction,Climb the stairs,Emission.In the above set up based on the kinetics of the whole robot. Considering the mechanical arm dynamic role of tracked robot system dynamics model, in order to further optimize the robot structure, improve the control algorithm provides theoretical basis. Climbing stairs is a mobile robot obstacle of extreme working condition,Analysis of the obstacle negotiation kinematics, dynamics modeling process in detail, Analysis of the effect of gravity on negotiation. Emission is one of the bad working condition for mobile robot,the dynamic properties is very large,
Study the initial disturbance on emission, And guide the control program, to achieve the required intensity of purpose.
Finally,several experiments are designed for the ground mobile robot prototype:the no-load test, road test, obstacle test, emission test. These test results validate the analysis results and verified practicability of the design.
引文
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