可重构消防机器人机构分析与设计
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摘要
传统消防车结构简单,缺乏足够的灵活性,面对复杂的非结构性灾害现场环境,其跨越障碍的能力有限,从而影响其消防救援工作的展开。为了克服上述缺点,继承举高消防车刚度高、承载能力大的优点,本文提出了具有冗余自由度的并联可重构模块化消防机器人的设计思想,并就此进行了以下几方面的研究工作:
(1)消防机器人功能及机构设计分析。讨论了现有消防车部署要领、火灾环境特点、消防机器人功能,指出现有消防车避障能力不够。论文进一步分析了空间机器人空间运动方式、消防机器人避障运动特点和过程,探讨了避障运动机器人的设计方法,提出了并联可重构消防机器人概念,即以并联机器人机构为避障功能关节模块单元的可重构消防机器人。
(2)可重构模块化并联机器人的模块单元综合与选型。文中提出了以并联机器人机构为可重构机器人模块单元,并对模块单元进行了综合与分选。a)本文基于单开链理论,综合了球面3自由度和对称3自由度并联机器人机构,共获得145种球面3自由度并联机器人机构和11种对称3自由度并联机器人机构,为该类并联机器人进一步设计研究分析提供理论基础。b)本文从综合得到的机构类型中选取结构简单且对称的3RPS并联机器人机构(S模块)作为并联可重构消防机器人的避障功能关节模块单元,以移动副单元(P模块)作为快速提升并联可重构消防机器人工作空间的功能模块单元及带有支持消防机器人工作臂起伏和旋转运动装置的消防车底盘为基础模块。
(3)S模块的设计研究及优化。借助ADAMS软件,建立了S模块的参数化模型。以S模块的最大转动角度为优化目标,对3个设计参数(定平台外接圆半径、动平台外接圆半径和定平台外接圆半径的比率和驱动副连杆基础长度)进行尺度优化设计,获得了一组最佳设计参数。并进行了试验设计(DOE)研究,结果表明:3个设计参数在同时发生变化时,影响转动能力最主要因素是动平台外接圆半径和定平台外接圆半径的比率。
(4)新型消防机器人避障原理研究。初步探讨了该类机器人的避障原理,规划了避障路径。通过避障实例计算和避障过程的ADASMS软件仿真,验证了上述避障原理的可行性。
本文研究成果对于推动工业机器人、消防救援、无人探测及危险物处理等领域的技术和装备工业的发展有深远意义。
Traditional fire trucks affect the fire started rescue work for its simple structure and the lack of sufficient flexibility in the face of complex and non-structural environment. The obstacle is not maybe avoid . The reconfigurable robot of fire with parallel modular is proposed in this dissertation. This robot which the high stiffness and the advantages of large carrying capacity is accepted has a a redundant degree of freedom and overcome these shortcomings. The following research is carried out.
(1)Design and analysis functions and institutions with fire-fighting robot. The deployment of key for existing fire trucks, fire environmental characteristics and functional fire-fighting robot is discussed. It is not enough the capacity of obstacle avoidance for existing fire trucks. The ways space and space movement for robots is further analyzed. The characteristics of fire robot obstacle avoidance movement is discussed too. The concept parallel with reconfigurable robot fire, that is, for the parallel robot mechanism being as functional modules for reconfigurable robots fire is proposed after discussing the process of obstacle avoidance movements and the robot design method.
(2) Modular for reconfigurable parallel robot synthesis and selection. A parallel robot mechanism for reconfigurable robot modules is proposed. The robot mechanism for modules is synthesised and separated, a) Based on the theoretical foundation of single open chain, the spherical 3-DOF parallel robot mechanism and symmetric 3-DOF parallel robot mechanism is synthesized. There are 145 kinds of spherical 3-DOF parallel robot mechanism and the 11 kinds of symmetric 3-DOF Parallel Robot acquired. Such parallel robot provide theoretical basis for further research and analysis designed, b) 3RPS parallel robot mechanism (S module) which structure is simple and symmetry is selected as a parallel reconfigurable robot to avoid obstacle, The transfer pair (P module) is selected as a parallel can be rapidly reconstruction of fire-fighting robot work space modules of functionality. The chasis with equipment supporting the robot arm of the fire ups and downs,rotating as based module..
(3) Design and optimization of S modular cell. The analysis model with design parameters of the S modular cell was built by ADAMS with the technology of virtual prototyping. There are three parameters which are the ratio between the circum radius of the moving platform and the one of fixed base , the length of the prismatic pair and the circum radius of the fixed base, are chosen as variables to perform the optimization of the maximum rotation angle of the R modular cell. It is the main factor affecting the angle turning is the ratio between the circum radius of the moving platform and the one of fixed base after DOE analysing.
(5) Obstacle avoidance is researched for the new type fire trucks. Preliminary study of such principles of robot obstacle avoidance, obstacle avoidance path planning, simulated fire scene and obstacle avoidance example of the calculation and simulation were made.
It is full of meaning that the results for the promotion in the areas such as industrial robots, fire rescue, no detection and handling of hazardous materials technology and equipment industry.
(1)消防机器人功能及机构设计分析。讨论了现有消防车部署要领、火灾环境特点、消防机器人功能,指出现有消防车避障能力不够。论文进一步分析了空间机器人空间运动方式、消防机器人避障运动特点和过程,探讨了避障运动机器人的设计方法,提出了并联可重构消防机器人概念,即以并联机器人机构为避障功能关节模块单元的可重构消防机器人。
(2)可重构模块化并联机器人的模块单元综合与选型。文中提出了以并联机器人机构为可重构机器人模块单元,并对模块单元进行了综合与分选。a)本文基于单开链理论,综合了球面3自由度和对称3自由度并联机器人机构,共获得145种球面3自由度并联机器人机构和11种对称3自由度并联机器人机构,为该类并联机器人进一步设计研究分析提供理论基础。b)本文从综合得到的机构类型中选取结构简单且对称的3RPS并联机器人机构(S模块)作为并联可重构消防机器人的避障功能关节模块单元,以移动副单元(P模块)作为快速提升并联可重构消防机器人工作空间的功能模块单元及带有支持消防机器人工作臂起伏和旋转运动装置的消防车底盘为基础模块。
(3)S模块的设计研究及优化。借助ADAMS软件,建立了S模块的参数化模型。以S模块的最大转动角度为优化目标,对3个设计参数(定平台外接圆半径、动平台外接圆半径和定平台外接圆半径的比率和驱动副连杆基础长度)进行尺度优化设计,获得了一组最佳设计参数。并进行了试验设计(DOE)研究,结果表明:3个设计参数在同时发生变化时,影响转动能力最主要因素是动平台外接圆半径和定平台外接圆半径的比率。
(4)新型消防机器人避障原理研究。初步探讨了该类机器人的避障原理,规划了避障路径。通过避障实例计算和避障过程的ADASMS软件仿真,验证了上述避障原理的可行性。
本文研究成果对于推动工业机器人、消防救援、无人探测及危险物处理等领域的技术和装备工业的发展有深远意义。
Traditional fire trucks affect the fire started rescue work for its simple structure and the lack of sufficient flexibility in the face of complex and non-structural environment. The obstacle is not maybe avoid . The reconfigurable robot of fire with parallel modular is proposed in this dissertation. This robot which the high stiffness and the advantages of large carrying capacity is accepted has a a redundant degree of freedom and overcome these shortcomings. The following research is carried out.
(1)Design and analysis functions and institutions with fire-fighting robot. The deployment of key for existing fire trucks, fire environmental characteristics and functional fire-fighting robot is discussed. It is not enough the capacity of obstacle avoidance for existing fire trucks. The ways space and space movement for robots is further analyzed. The characteristics of fire robot obstacle avoidance movement is discussed too. The concept parallel with reconfigurable robot fire, that is, for the parallel robot mechanism being as functional modules for reconfigurable robots fire is proposed after discussing the process of obstacle avoidance movements and the robot design method.
(2) Modular for reconfigurable parallel robot synthesis and selection. A parallel robot mechanism for reconfigurable robot modules is proposed. The robot mechanism for modules is synthesised and separated, a) Based on the theoretical foundation of single open chain, the spherical 3-DOF parallel robot mechanism and symmetric 3-DOF parallel robot mechanism is synthesized. There are 145 kinds of spherical 3-DOF parallel robot mechanism and the 11 kinds of symmetric 3-DOF Parallel Robot acquired. Such parallel robot provide theoretical basis for further research and analysis designed, b) 3RPS parallel robot mechanism (S module) which structure is simple and symmetry is selected as a parallel reconfigurable robot to avoid obstacle, The transfer pair (P module) is selected as a parallel can be rapidly reconstruction of fire-fighting robot work space modules of functionality. The chasis with equipment supporting the robot arm of the fire ups and downs,rotating as based module..
(3) Design and optimization of S modular cell. The analysis model with design parameters of the S modular cell was built by ADAMS with the technology of virtual prototyping. There are three parameters which are the ratio between the circum radius of the moving platform and the one of fixed base , the length of the prismatic pair and the circum radius of the fixed base, are chosen as variables to perform the optimization of the maximum rotation angle of the R modular cell. It is the main factor affecting the angle turning is the ratio between the circum radius of the moving platform and the one of fixed base after DOE analysing.
(5) Obstacle avoidance is researched for the new type fire trucks. Preliminary study of such principles of robot obstacle avoidance, obstacle avoidance path planning, simulated fire scene and obstacle avoidance example of the calculation and simulation were made.
It is full of meaning that the results for the promotion in the areas such as industrial robots, fire rescue, no detection and handling of hazardous materials technology and equipment industry.
引文
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