【作者】 谷德明；

【导师】 张明路；

【作者基本信息】 河北工业大学 ， 机械工程， 2011， 硕士

【摘要】 现今的移动机器人为了满足在不同地形环境下快速行进和保持平稳的需要,大都采用两种或两种以上的复合行进方式,在不同环境下采用不同行进方式,极大地提高了机器人的地形适应能力。本文提出了一种新型的轮腿式移动机器人平台,其在平整地形环境下采用轮式行进方式,在非平整地形环境下采用轮腿复合行进方式。可跨越相当于1.2倍轮子直径高度的障碍,轻松爬上40°的斜坡,并可实现坡上制动,地形适应能力很强。本文详细叙述了轮腿式移动机器人平台的结构特点和尺寸参数,并就其驱动系统和轮腿系统的结构和工作原理作了详细说明,分析了其在不同地形环境下的行进策略和相应的姿态变化原理。对机器人平台进行了运动学分析,包括转向运动学分析、位姿模型分析和机器人平台参考点的位姿和轮腿末端姿态之间的变化关系。并运用MATLAB软件对逆运动学分析的结果进行了验证。分析了机器人平台的越障性能,就其越障能力与摩擦系数、结构尺寸之间的关系进行了分析。并求出了其在跨越台阶和沟槽时前后轮腿系统之间的转角关系,为机器人控制系统的设计做好了理论基础。用UG软件对机器人进行了运动学仿真。包括机器人模型的建立、装配、不同地形环境下的运动仿真。仿真结果验证了该设计方案的可行性和越障策略的正确性。并导出了其在不同地形环境下的驱动力曲线,从而为机器人电机的选型做好了理论准备。更多还原

【Abstract】 Nowadays the mobile robot in order to satisfy the needs of quick trip and maintain stable in different terrain environment, mostly adopts two or more complex manner, using different travel mode in different environment, which has greatly enhanced the robot terrain adaptability. This paper presents a new type of wheel-legged mobile robot platform, it use wheeles march on a flat terrain environment and use wheel leg composite march method on a uneven terrain environment. It can span equivalent to 1.2 times wheel diameter high barriers, relaxed climb 40°slope, and can realize slopes braking, the terrain adaptability is strong.This paper describes the structure feature and size parameters of the wheel-legged mobile robot platform in detail , and describe its drive system and wheel-leg system structure and working principle in detail, analyses its march strategy and the corresponding posture change principle in different terrain environment.Carried out the kinematics analysis of the robot platform, including steering kinematics analysis, pose model analysis, and the relationship between the pose of the robot platform reference piont and the stance of the wheel-leg terminal. And used MATLAB to verify the result of the inverse kinematics analysis.Analyzes the over-obstacle performance of the robot platform, and analyzes the relationship between the over-obstacle performance and friction coefficient , structure size. And get the corner relationship of the front and rear wheel-leg system when it crossing step or groove, thereby make the theoretical basis ready for the robot control system design.Carried out the kinematics simulation of the robot by UG. Include robot model bulit, assemble, different terrain environment movement simulation.The simulation results verify the feasibility of this scheme and the correctness of the over-obstacle strategy. And export the driving force curves in different terrain environment, thus make the theoretical preparation ready for the robot motor selection.更多还原