【作者】 王洪涛；

【导师】 徐文福；

【作者基本信息】 哈尔滨工业大学 ， 机械工程， 2015， 硕士

【摘要】 行星表面探测是一项伟大而艰巨的任务,通过探测行星表面来研究其地质特性和周围环境,探索和研究行星系统的演变过程,可为未来人类开发和运用行星资源奠定基础。行星表面地质环境复杂,多崎岖路况,传统机器人质量及体积大,运动自由度少,难以适应行星表面环境,而蛇形机器人为超冗余机器人,运动灵活且重心低,适合于在崎岖路况或狭小空间中探测应用。本文面向行星表面探测的需求,设计两种不同的蛇形机器人构型,开展运动学分析及步态规划,并研制样机,开展实验研究。根据应用需求,确定蛇形机器人的功能及性能指标要求,设计了两种蛇形机器人构型及相应的模块化关节,即模块化单自由度关节和模块化双自由度球形关节,前者关节力矩直接输出控制简单,后者关节力矩经传动机构输出,关节驱动能力有所增强。在实际应用中,可根据具体的情况,采用相应的构型和关节。为实现蛇形机器人的步态规划及运动控制,采用D-H法对所设计的两种构型进行运动学建模;通过对生物蛇运动形式的分析,并结合设计的构型,规划了蛇形机器人的蠕动步态、滚动步态及Serpenoid曲线步态,并编写规划软件程序进行步态仿真,验证了理论推导及规划算法的准确性。控制系统是蛇形机器人运动控制的核心,本文以ARM处理器为核心,基于模块化思想设计并开发了蛇形机器人的嵌入式硬件控制器,软件系统移植了实时操作系统uc/os-ii,利用其灵活的任务调度机制,通过编写任务控制函数实现了多任务的管理。基于上述工作,完成了两种构型蛇形机器人样机的机械加工、组装及调试,并以其中一款样机进行了不同路况下的运动控制实验,包括室内地面,室外的草丛、沙石等环境下的蠕动、滚动及Serpenoid曲线的运动步态及越障实验。结果表明,该蛇形机器人运动能力较强,满足多种路况下的应用需求。更多还原

【Abstract】 Planet’s surface exploration is a great and arduous task and foundation can be laid for development of planetary resources by studying planet geological characteristics and space environment and exploring the formation and evolution history of the planetary system. The planet’s geological surface with more bumpy roads is complex and difficult for traditional robot to adapt to the environment with disadvantages of large size, less movement dofs(degrees of freedoms). A snake-like robot is extremely suitable for application in rugged roads or narrow space with advantage of redundant structure, movement flexibility and low gravity center. This paper is written for demand of planet’s surface exploration. Two different snake-like robot configurations are designed and then kinematics analysis and gait planning are done. At last, prototype of snake-like robot is developed and experimental study is carried out in the end.According to application requirements of snake-like robot, function and performance index are determined. Two kinds of snake-like robot configurations and corresponding modular joints, namely modular single dof joint and modular double dof spherical joints, are designed based on requirement of function and indicators. In practice, corresponding configuration and joints with advantage of directly output of joint torque and simplicity of control of the former joint and high actuator drive capacity of the latter are used according to specific situation. To accomplish gait planning and motion control of snake-like robot, kinematics models are established using D-H method based on two configurations. According to analyze biological snake movement forms, creeping gait, rolling gait, serpenoid curve gait are planned based on designed configurations. Simulation is done by writing gait planning software program and accuracy of algorithm and theoretical derivation are verified in the process of simulation. Control system is core of snake-like robot motion control. Based on modular design thought, embedded hardware controller is developed based on the core ARM processor. The real-time operating system uc/OS-ii is transplanted and management of multitasks is done by writing task control function using flexible task scheduling mechanism of uc/OS-ii.Based on above work, mechanical processing, assembly and debugging of two configurations snake-like robot prototype are completed and motion control experiments under different road conditions are carried out with one prototype, including creeping, rolling and serpenoid curve gait and obstacle avoidance experiments on indoor ground, grass, sand and other outdoor environment. Results show that motion ability of snake-like robot is so strong that it meets application requirements on variety road conditions.更多还原