【作者】 王丹；

【导师】 姚燕安；

【作者基本信息】 北京交通大学 ， 机械工程（专业学位）， 2016， 硕士

【摘要】 目前小型地面移动机器人的质量、体积、快速平稳性、越障能力和运行环境等多个因素间存在难以均衡的矛盾。本论文以小型地面移动机器人为基础,以设计具有高越障性能的地面移动机器人为目标,以环境适应能力与越障能力为设计指标,开发具有高越障性能、质量轻、体积小、成本低的小型地面移动机器人。在前期资料调研的基础上,本论文共提出了三种小型地面移动机器人的设计方案。首先,基于异形轮设计思想,提出了半轮结构设计方案,半轮地面移动机器人具有较好的越障能力,同时具有较好的快速平稳性；接着,基于变形轮设计思想,提出了伞形轮结构设计方案,伞形轮地面移动机器人具有较好的越障能力,同时质量轻、体积小、便于携带；最后,融合异形轮与变形轮设计思想,提出了变形轮结构设计方案,变形轮地面移动机器人具有较强的越障能力,同时兼具变形轮与异形轮的优点。对上述三种设计方案进行了运动学分析、动力学分析、越障过程分析以及通过Adams软件对虚拟样机进行了常见路况的仿真分析,通过仿真研究了机器人可以通过沟壑的最大宽度、障碍物的最大高度以及斜坡的最大角度。完成了上述三种设计方案的样机设计工作,完成了半轮结构设计方案和自适应变形轮结构设计方案的样机加工制作与实验工作。本论文提出的三种设计方案都明显的提高了地面移动机器人的越障能力,每种方案设计的机器人均有其适用的环境,变形轮结构设计方案更符合本论文的设计目标。本论文为提高轮式地面移动机器人综合性能的研究提供了新的研究思路和技术途径。更多还原

【Abstract】 At present, the quality, volume, quick stationarity, obstacle crossing ability and operating environment of miniature ground-moving robots are difficult to balance multiple factors. Based on the miniature ground-moving robots, the high obstacle crossing ability as design objective,and the environmental adaptability and obstacle crossing ability as design index to design miniature ground-moving robot with obstacle crossing ability, light mass, small volume and lowcost.On the basis of the study research, three miniature ground-moving robots with high obstacle crossing ability are proposed. First of all, the miniature ground-moving robot with half-round wheel is proposed according to the design idea of profiled wheel, the robot has high obstacle crossing ability and quick stationarity. Secondly, the miniature ground-moving robot with umbrella-shaped wheel is proposed based on the transformable wheel, the robot has has high obstacle crossing ability,at the same time,the robot has the advantages of light mass, small volume and easy to carry. Thirdly, based on the design idea of profiled wheel and transformable wheel are fused, the miniature ground-moving robot with transformable wheel is proposed, the robot has high obstacle crossing ability and advantages of profiled wheel and transformable wheel. The kinematic analysis, dynamic analysis, the obstacle-surmounting process analysis and analysis of common road through Adams software are provided about three miniature ground-moving robots.The maximum width of gap, maximum height of obstacles and maximum angle of slope are obtained by the simulation. The prototype design of three miniature ground-moving robots have been done by SolidWorks software. The prototype manufacture and prototype experiment of miniature ground-moving robot with half-round wheel and the miniature ground-moving robot with transformable wheel have been finished.The obstacle crossing ability of the miniature ground-moving robot are obviously improved. Each machine design has its applicable environment. The miniature ground-moving robot with transformable wheel conforms to the design goal of this paper. The robots provide a new kind of technology and research approach for ground mobile robot with high obstacle crossing ability.更多还原