【作者】 姚怡；

【导师】 魏世民；

【作者基本信息】 北京邮电大学 ， 控制理论与控制工程， 2013， 硕士

【摘要】 为了提供性能优越的代步工具和辅助装置,本文提出一种新型的轮足式爬楼智能机器人,介绍了其构型和结构特点,推导了运动学方程,并在约束条件下进行了完整的运动学分析和虚拟样机仿真。本文设计的可上楼梯机器人可广泛运用于残疾人和老年人等弱势群体,同时还可适用于医院、疗养院及家庭等多种场所。此项研究具有科学意义和推广应用价值,还具有广阔的发展前景,可以带来很大的社会和经济效益。本文通过对国内外机器人研究现状的分析,提出了一种轮足结合式的新型方案,对移动机构进行了分析与选择,设计了轮足结合式机器人的关键部位,并对其进行了设计校验,保证了机构设计的合理性。运用虚拟样机模型技术,建立了可上楼梯机器人的虚拟样机模型。首先模拟了机器人的爬楼过程,具体分析了模型的正确性和可行性,对机器人进行了运动学分析,为实物样机的制作提供了有力的理论依据。其次,加工零件,装配样机,并结合机器人样机,搭建控制系统和驱动系统,整理系统框图和实物框图,对整个控制系统脉络进行了梳理。最后,针对爬楼机器人在平地运行且只有两个中轮着地的特殊情况,本文对轮式机器人做了动力学分析、控制器设计、稳定性判断以及MATLAB和ADMAS联合仿真等工作,更进一步保证了可上楼梯机器人在平坦环境下的安全性和可靠性。本文分析了轮足结合式机构的结构特点,进行了机构的参数设计、驱动方案设计、控制系统设计,以及虚拟样机的设计与仿真。在仿真成功的基础上,加工装配成样机,进行实地测试,结果可以按照预定的期望运动,有效的验证了可上楼梯智能机器人的可行性,为爬楼机器人的进一步研究打下了很好的基础。更多还原

【Abstract】 The paper proposed a new type of intelligent climbing stairs robot with wheel foot, in order to provide superior performance means of transport and auxiliary devices. It introduced the configuration and structure characteristics, and this paper derived the kinematics equation, and the constraint conditions of a complete kinematics analysis and virtual prototype simulation. The design of the intelligent climbing stairs robot in the paper can be widely applied to vulnerable groups such as the disabled and the elderly, but can also be used to a variety of places such as hospitals, nursing homes and family. The study has scientific significance and application value, also has broad prospects for development, and can bring great social and economic benefits.Based on the analysis of the current situation of robot research at home and abroad, this paper put forward a kind of new scheme with wheel foot combination. The mobile mechanism are analyzed and selected, and it designed the key parts of the wheel foot combination robot, and checked its design inspection to ensure the rationality of the design agency.Using virtual prototype model technology, the paper set up the virtual prototype model of the intelligent climbing stairs robot. First, the paper introduced the specific analysis of the validity and feasibility of the model and the robot simulation climb building process, and the robot kinematics analysis, that can provided a strong theoretical basis for physical prototype production. Secondly, the paper also introduced the processing of all kinds of the different parts and assembly prototype. The paper built a control system and drive system combined with robot prototype, and organized system diagram and physical diagram, combining the context of the entire control. Finally, under the special circumstances that the robot climbing up in the ground operation and only two wheels in the floor, the paper proposed the robot dynamics analysis, the controller design, stability judgment and simulation with MATLAB and ADMAS, and further ensure that the robot can be up the stairs in flat environment safety and reliability.This paper analyzed structure characteristics of the wheel foot combination mechanism, and the mechanism of parameter design, driving scheme design, control system design, and virtual prototype design and simulation. Based on the success of simulation, the robot is processed and assembly into a prototype, and conducted field tests. The results can be in accordance to a predetermined expectations movement, and effective verify the feasibility of the stair intelligent robots, so the study has laid a good foundation for further study of robot.更多还原