【作者】 李华；

【导师】 樊炳辉；

【作者基本信息】 山东科技大学 ， 机械电子工程， 2007， 硕士

【摘要】 随着科技的不断发展，机器人的应用越来越广泛，几乎渗透到所有领域，并对人类社会产生着日益重大的影响。综合国内外的移动机器人的发展状况，经过多年的研制和开发，对于移动机器人的研究已经取得了一定的成绩，各种不同类型的移动机器人已经应用于各种不同的领域。但是，所研究的各种不同的移动机器人都是面对某一特定的运动环境进行设计，当运动环境发生改变时，其运动能力大大降低，甚至无法进行运动。为此，本课题提出了一种更新型的变形移动机器人结构来提高移动机器人的运动适应能力，属于对移动机器人研究的新概念，为整个移动机器人的研究开拓了一个新的研究空间。本文通过查阅大量国内外文献，对变形移动机器人进行结构分析、运动学和动力学分析，得出了移动机器人的运动学和动力学方程，建立了该机器人的虚拟模型，并利用ADAMS软件的control工具箱和MATLAB软件的simulink工具箱对机器人进行了联合仿真，为机器人的结构优化和后继的控制工作提供了有效数据；此外，还研究了基于人工势场的移动机器人的路径规划问题，对利用传统人工势场模型进行移动机器人路径规划的缺陷进行了数学分析，由于该缺陷的存在，在特定的环境中会产生不可到达问题，通过对斥力函数的修正，得到了改进的人工势场模型，实验表明，运用改进后的势场模型能够进行准确的路径规划。更多还原

【Abstract】 With the development of science and technology, the use of the robot is more and more extensive, and it has a profound effect on human society. After developing and researching for many years, the study of the mobile robot has achieved certain achievement. And various kinds of robots have already been applied in many fields. But, mobile robot has often been designed for some certain environments, and its mobile ability is reduced greatly, even have no way to carry out motion when environment changes. This thesis has put forward the concept of a. brand-new kind of deformable mobile robot to raise the move adaptation, belonging to the new concept studying of the mobile robot, which has opened up a new studying space for the whole research about the mobile robot.By looking up a large amount of documents at home and abroad, the thesis carries out structural, kinematics and dynamic analysis of the robot, gains the kinematics and dynamic equation of the robot, sets up the virtual model in ADAMS, completes co-simulation of the robot using ADAMS and MATLAB, and provides effective data for the robots structural optimization and the following control work. Besides, the thesis studies the mobile robot route plans based on the artificial potential field, and carries out mathematical analysis on the defect that the route making use of the tradition potential field model to carry out displacement robot plans. It describes the problem of goals non-reachable with obstacles nearby, and solves this problem by modifying repulsive function. Improved artificial potential field model can solve the problem effectively.更多还原