摘要
摘要：本研究属于机器人机构学领域,是对移动连杆机构进行的研究。连杆是腿足式、蛇形及不规则形态(非生物外形)机器人的基本构件；其尺寸、形状设计自由度大：连接铰链的种类和配置方式多；故移动连杆机构具有深厚的研究内涵。
本文首次提出网格式移动连杆机构的概念,该类机构由若干连杆组合而成,在外形形态上类似于生物学领域中的网格,如蜂窝截面的网格形状。网格的一条边在连杆机构中是一个连杆,网格的结点在连杆机构中是连杆间的连接铰链。
论文从基本的开链式三连杆机构出发开展研究；而后,用连杆构造出具有三边、四边闭环图形形态的移动连杆机构,即三边、四边网格单元移动连杆机构；再以平行四边形网格单元移动连杆机构为基本单元,采用不同的组合方式,构造新型的网格式移动连杆机构,分析其运动特性。主要研究工作如下：
(1)根据三边式移动连杆机构的拓扑,构造了3个子类的具有步行或爬行能力的三杆开链式移动连杆机构；提出了直线步行的三边网格单元移动连杆机构,分析其稳定性、步高、步长等运动性能；从杆件形状与铰链连接的角度,提出改进方案,增加了三边网格单元移动连杆机构的转向功能。
(2)增加网格单元的边数,提出滚动的四边网格单元移动连杆机构,利用机构学中四杆机构的知识及拓扑学的理论,从铰链方位、驱动个数、驱动位置等方面考虑,拓展出7种子构型,分析各构型的结构特点和运动轨迹,并使用差动方式实现了中心单动力型平行四边形网格单元连杆机构差动系统的转向。
(3)将两个平行四边形网格单元进行平面或空间组合,分别研究了平面型、空间正交型双平行四边形网格式移动连杆机构,采用差动方式实现前者的转向,分析了后者空间任意方位转向的特性。
(4)将三个平行四边形网格单元进行平面组合,构成的三平行四边形网格式移动连杆机构的结构具有对称性,研究其质心波动与驱动函数的关系,并以最小化质心波动为优化目标求解驱动函数,使用差动方式实现了差动系统的转向。
(5)将四个平行四边形网格单元进行平面组合,开发了四平行四边形网格式移动连杆机构,深入发掘其运动方式,发现其类履带的边触地的滚动方式和类步行的两点触地的滚动方式,对其差动系统进行了转向和侧翻自救能力的探索。
(6)讨论并总结了采用共中心点的组合方式对平行四边形网格单元进行组合后,平行四边形网格单元的个数与移动连杆机构的运动方式的关系。
ABSTRACT:This research is in the field of robotic mechanism and it is about mobile linkage mechanism. Links are the components of legged robots, snake-like robots and some other kinds of robots without the configuration of creatures. The size and shape of a link can be designed in many ways. There are also many kinds and assembling ways of links. Therefore, the research on mobile linkage mechanism can be done deeply.
The concept of mobile linkage mechanism with lattice configuration is proposed firstly in this paper. This kind of mechanism is composed of some links and the configuration is similar to lattice in the field of biology, such as the configuration of section of honeycombs. A side of a lattice means a link of a mechanism. A node of a lattice represents a joint of a mechanism.
The study starts from the basic open chain linkage mechanism with three links. Then, the mobile linkage mechanisms are composed of links, with the configurations of closed loops with three sides or four sides, namely, a unit lattice with three sides or four sides. After that, based on the mechanism with the configuration of a unit lattice with four sides, that is, a parallelogram mechanism, novel mobile linkage mechanisms with lattice configuration are constructed through different ways to be studied on. The main work is listed as following:
(1) According to the topology of a mobile linkage mechanism with three links, the walking or crawling mobile open chain linkages mechanisms are proposed and classified to three sub-groups. A straight walking mobile linkage mechanism with three-side lattice configuration is put forward, i. e., a walking linkage mechanism with triangle configuration. The stability, the length and height of a stride, and some other mobile characters are analyzed. From the point of view of shapes of links and kinds of joints, a modified mechanism is constructed to turn around.
(2) Adding the number of sides of a unit lattice, a rolling mobile linkage mechanism with four-side lattice configuration is generated. With the knowledge of four bar linkage in mechanism and topology theory, seven kinds of mechanisms are derived after considering the directions of joints, number of actuations, position of actuations, and so on. The features of every mechanism and moving trajectories are analyzed. The turning motion of the differential system composed of two mobile linkage mechanisms with parallelogram configuration is realized.
(3) Combining two parallelogram mechanisms in a plane or spatially, the planar mobile linkage mechanism with two parallelograms configuration and the mobile linkage mechanism with two spatial-crossed parallelograms configuration are produced and analyzed. The former can turn by the differential way and the latter can do omnidirectional rolling motion by itself.
(4) After combining three parallelogram mechanisms in a plane, a mobile linkage mechanism with three parallelograms configuration are formed and it has symmetric structure. The relation between the vibration of its center of mass and the driving functions is studied. Aiming at minimizing the vibration, the driving functions are optimized. Its differential system can turn around.
(5) Four parallelogram mechanisms are combined in a plane. The mobile linkage mechanism with four parallelograms configuration is created. Considering its ways of moving deeply, two are found. One is the rolling motion with sides support, like a tracklayer. The other is the rolling motion with two points support, like a biped. Its differential system is found out to turn and recover from side-falling.
(6) Discuss and sum up the relation between the number of parallelograms and moving methods of mobile linkage mechanisms, which are generated by combining the parallelogram mechanisms with a common vertex.
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