【作者】 颜兵兵；

【导师】 任福君；

【作者基本信息】 哈尔滨理工大学 ， 机械制造及其自动化， 2008， 博士

【摘要】 拱泥机器人是一种能在水下泥土环境中按照规划轨迹完成攻打千斤洞作业的新型水下特种机器人,用来替代潜水员攻打千斤洞的手工作业。由于拱泥机器人是工作在海底泥土环境中,缺少必要的检测和通讯手段,一旦在试验或工作中发生意外,势必造成金钱和时间上的浪费。针对这一问题,本文提出了一种拱泥仿生机器人的总体技术方案,并对其虚拟样机展开了研究,为拱泥机器人实验样机的研制奠定了基础。应用虚拟样机技术开发基于蠕动原理拱泥仿生机器人是增强我国拱泥机器人自主研发和技术创新能力的有效途径。在拱泥仿生机器人设计的初期阶段针对其仿生机构、海洋土力学、运动学及其控制策略进行数学建模与仿真研究,可对拱泥仿生机器人总体性能进行匹配和整体优化,这对于缩短产品开发周期、降低成本、改进设计质量、提高市场竞争力具有重要的理论意义和学术价值。论文的主要研究内容如下所述。论文介绍了基于蠕动原理拱泥仿生机器人系统设计及其虚拟样机研究的背景与意义,概括了蠕动爬行机器人以及国内拱泥机器人的研究现状,从产品开发流程的角度出发,阐述了虚拟样机技术的产生背景、理论与方法及其工程应用,基于仿生机器人的主要研究问题即机构设计问题、建模问题以及控制策略问题这三个方面,提出应用虚拟样机技术进行拱泥仿生机器人系统设计及其虚拟样机研究的主要内容及其技术路线。根据蚯蚓的生理结构及其运动机理,提出了一种拱泥仿生机器人的总体技术方案;结合并联机构的特点,对拱泥机器人转向关节展开了深入的研究,并进行运动学的数值分析及计算机仿真研究。仿真结果表明,转向关节具有推进、跟进及转向三个功能。同时基于并联机构工作空间的研究方法,进行了转向关节装配方案的优化设计,并基于自顶向下的设计方法,进行了转向关节的参数化三维建模与自动装配方面的研究。基于自主移动机器人的控制策略分析的基础上,提出了基于规划与行为的混合式拱泥机器人控制体系结构;结合拱泥机器人的整体结构和运动特点,分析了拱泥机器人的控制策略,并设计了拱泥机器人的局部路径规划器。论文介绍了海洋沉积土的来源与分布情况,以及淤泥质粘土的工程性质。应用土的抗剪强度理论等经典土壤力学理论从宏观上进行拱泥机器人直行和转向时的受力分析。应用离散单元法进行土壤动态行为模拟,从细观上揭示了土壤动态行为的变化规律。在转向关节运动学模型的基础上,建立了拱泥机器人的运动学模型,为拱泥机器人的虚拟样机研究奠定了基础。通过分析复杂产品虚拟样机的信息与功能集成原理,建立了基于参数驱动的虚拟样机体系结构,并采用实例分析的方式将该结构应用在拱泥机器人虚拟样机的设计中。该结构为企业开发复杂产品、实施虚拟样机工程、进行产品创新提供了一条有效的途径。在虚拟样机的仿真实验研究方面,首先提出了避障控制器路径规划算法,并进行了仿真实验;采用多种计算机技术,分别从数据接口模块、数学运算模块、图形化仿真模块、硬件接口模块等方面展开研究,建立了拱泥机器人运动过程的图形化仿真平台,并进行了拱泥机器人作业模拟实验。在总结全文工作的基础上,对进一步的研究提出了建议和展望。更多还原

【Abstract】 Move-in-mud robot is a new-type and special-use underwater robot, which can perform the hole excavating work along the planned trajectory in the mud under water so as to alternate the manual operation of drivers. As the lack of necessary means of communication and testing in the seabed soil environment where move-in-mud robot working, an accident occurs once during the trial or work which will cause inevitably a waste of time and money. Aimed at this problem, an overall technical scheme of bionic move-in-mud robot is presented in this dissertation, and the study of its virtual prototype is carried out. The application of virtual prototype technology to develop the bionic move-in-mud robot based on the creeping principle is an effective way to increase the abilities of technology innovation and development on our own technology. During the early stage of design of move-in-mud robot, those performances, such as bionic mechanism, soil mechanics, kinematics, control strategy, can be proceeded to mathematical modeling and simulation. By this way the overall performances are matched and optimized integrally. Consequently it is of important theoretical significance and academic value to study the virtual prototype of move-in-mud robot based on the creeping principle to shorten the development cycle of product, reduce production cost, improve the quality of design and increase the ability of market competition. Those research works above lay the foundation for the development of experimental prototype of move-in-mud robot. The main contents of this dissertation are given as follows.The research background and meaning of system design of bionic move-in-mud robot and its virtual prototype based on the creeping principle are given, and the present research status of crawing robot and move-in-mud robot at home are summarized. From the product development process point of view, the background, theory and methodology and its engineering application are described. On the basis of three problems of bionic robot, such as mechanism design, modeling and control strategy, the main research contents and technical route of this dissertation are presented by virtual prototype technology.According to the analysis on the physiological structure and movement mechanism of earthworm, an overall technical scheme of move-in-mud robot is presented. Combined with the characteristic of parallel mechanism, the turning joint of move-in-mud robot is studied deeply, and the numerical analysis and computer simulation of its kinematics are carried out. The results show that the turning joint possesses three functions that are push, follow and turning. Meantime, based on research method of parallel mechanism workspace the optimatioan design of assembly plan of turning joint is processed, and based on top-down method the parameterized three-dimentional modeling and automatic assembly of the turning joint are studied. On the basis of analysis on control strategy of autonomous mobile robot, the mixed architecture of move-in-mud robot based on planning and behavior is proposed. Combined with the overall mechanism and movement characteristic, the control strategy of move-in-mud robot is analysed, and the local path planning is designed.The source and distribution of marine sedimentary soil and the engineering property of silt clay are introduced. Using classical soil mechanics theory the force analysis of bionic move-in-mud robot is processed during linear and turning movement from macroscopic view. Using discrete element method the dynamic behavior of soil is simulated so as to reveal the change law of soil from the microscopic view. On the basis of kinematical model of turning joint, the kinematic model of bionic move-in-mud robot is established. These works lay the foundation for the study on virtual prototype of move-in-mud robot.By analysing the integrated principle of information and function of complex product virtual prototype, the parameter-driven architecture of virtual prototype is created and applied to the virtual prototype design of move-in-mud robot by the case analysis way. This architecture provides an effective way to develop complex product, carries out virtual prototype projects and product innovation for enterprise.For the simulation experiment of virtual prototype, the path planning algorithm of obstacle avoidance controller is proposed and verified by simulation experiment. Adoping a variety of computer technologies, the graphical simulation platform of movement process of move-in-mud robot is created at the variouos aspects of data interface module, mathematical operation module, graphical simulation module and hardware interface module. At last, the simulation experiment of working process of move-in-mud robot is carried out.On the bisis of the summaries and the conclusion of all research works, some suggestions and prospects for further researches are put forwards.更多还原