【作者】 张倩；

【导师】 李春书；

【作者基本信息】 河北工业大学 ， 机械工程， 2013， 硕士

【摘要】 随着现代科学技术的发展，对机器人的研究受到广泛的关注，特别是对移动机器人的研究。移动机器人主要用于探索一些危险和未知的环境地域，特别是对在复杂的道路地形下移动机器人适应性比一般的移动机器人较强。为提高机器人在复杂环境下的实用性，本课题要求所研究的移动机器人能够适应不同路况，既能在平坦的在路面上沿直线行走，又能够在不规则的复杂环境中完成翻越台阶等任务。本文主要内容如下：首先，本文综合比较各种移动机构的运动性能和越障能力，设计出一种新型的以差动机构作为传动系统的复合式移动机器人；给出机器人的总体结构布局，分析差动机构的运动特点，并描述了该类型移动机器人在翻越台阶时的运动状态；分析机器人完成越障运动过程所要满足的结构尺寸参数条件；分析运动过程中机器人重心位置变化的轨迹。对机器人的直线运动以及越障运动进行分析，利用拉格朗日方程建立机器人的动力学模型，利用三维软件建立实体模型，并运用动力学分析软件ADAMS中对移动机器人的平面运动以及翻越台阶越障运动进行仿真模拟，计算输出机器人相应组件运动仿真曲线得出结论。最后运用稳定锥的概念对机器人的静态稳定性进行分析，求解出机器人静态稳定性与机器人结构尺寸之间的关系；运用倾翻指数对机器人翻越台阶和运动时发生紧急制动两种运动状态时的动态稳定性进行判别分析，判断机器人是否满足动态稳定性的要求。更多还原

【Abstract】 With the development of modern science and technology, the robot has received extensiveattention, especially for mobile robots. The mobile robot is mainly used to explore a number ofdangerous and unknown environments geographical, especially for mobile robot in complex roadterrain adaptability stronger than the average mobile robot. In order to improve the practicality ofthe robot in a complex environment，required the mobile robot can adopt different kinds of roadconditions, not only moving in plain road smoothly, but also climbing the stairs in irregularcomplex environment.First of all, compared sports performances and obstacle clearance capacity of the variousmobile mechanism; designed a new type of composite mobile robot as a differential mechanismtransmission system, designed the layout of the overall structure of the robot; analyzed themotion characteristics of the transmission mechanism; described the action of the state of motionof the mobile robot under the transmission system; analyzed the moving mechanism size of thecondition when the robot climbing obstacle; analyzed the center of gravity position changing inthe trajectory during the movement of the robot.Analyzed the robot’s movement of the linear motion and climbing obstacle; calculatedkinematics and dynamics models, used the three-dimensional software to create solid models,and used the dynamics analysis software ADAMS to simulate the robot’s state of plane motionand climbing stairs, draw the curve of robot’s motion simulation.Finally, used the concept of stable cone analyzed of the static stability of the robot, solvedthe relationship between the robot static stability and structural dimensions; used tipping indexdiscriminated analysis dynamic stability two state of motion when the robot climb stairs and theemergency brake sports, to determine whether or not the robot to meet requirements of dynamicstability.更多还原