【作者】 袁野；

【导师】 刘贺平； 赖锋；

【作者基本信息】 哈尔滨工程大学 ， 工程硕士（专业学位）， 2016， 硕士

【摘要】 张拉整体结构是一种由压杆和拉索组成的特殊张拉桁架结构,结构中的构件只承受轴向载荷。这样的结构逐渐由艺术领域走进工程领域,由雕塑作品到建筑材料再到航天机器人,张拉整体结构已经成为了一个研究热点。当前,张拉整体机器人的研究尚处于发展阶段,张拉整体机器人的种类繁多,用途各异。在众多张拉机器人的研究中,球形张拉整体结构机器人的研究居多,本文将以球形张拉整体机器人为研究对象,对一种具有承载空间的张拉整体机器人进行相关研究。张拉整体结构是球形张拉整体机器人的结构主体,本文从张拉整体结构构型入手,利用数学建模的方法,首先确定张拉结构的节点排序并推导计算节点矢量矩阵,通过分析节点与杆索构件的连接关系,推导计算杆索构件的连接矩阵,完成对张拉整体结构的数学建模,实现张拉整体结构的构型。同时在球形张拉结构数学建模的基础上,讨论了张拉结构内部承载空间与张拉结构外形尺寸的关系。对球形张拉整体结构的稳定性问题进行分析。本文基于已经建立的张拉整体结构数学模型,建立结构的力平衡方程,通过平衡矩阵求出机构位移模态及自应力模态,确定结构的稳定类型。利用鱼群算法进一步对张拉结构进行变形状态下的稳定性判定。同时借助鱼群算法优化张拉整体结构各构件的受力情况,得出张拉结构各构件平均受力的方案。对球形张拉整体机器人的驱动方式的选定进行分析。本文首先对现有的可能应用于张拉整体机器人的驱动方式进行比较,找出适合张拉整体结构特性的两种驱动方案。进一步在对两种驱动方案进行仿真分析,对两种驱动方案进行驱动效率的比较,确定张拉整体结构驱动方案。对张拉结构抗冲击能力进行分析。本文参考外星探测器着陆试验的实验方法,通过同高度不同的着地点数、同高度同着地点数不同着地方式两种试验方式对张拉结构进行仿真分析,得到各着地情况张拉结构所受冲击力的数据。对刚性桁架结构进行同样的仿真分析并获得其所受冲击力数据,根据仿真获得的数据计算张拉结构的冲击力吸收率,对张拉结构的抗冲击能力进行校验。对球形张拉整体机器人的运动问题进行分析。本文采用仿真与实物试验并行的方式对球形张拉整体机器人的运动驱动方式及运动路线进行研究。在仿真分析方面,对张拉整体结构进行初步的结构属性设定,规范张拉整体机器人驱动控制方法,研究张拉机器人运动步态,得到球形张拉整体机器人的运动方案及运动路线。在实物试验中,首先搭建了球形张拉整体实物模型,利用仿真的结果对张拉整体模型进行控制操作,对仿真分析所获得的运动方案和控制方案进行检验。对比两种情况下球形张拉整体机器人的运动,对其运动方案进行修正,获得球形张拉整体机器人的最终控制方式。更多还原

【Abstract】 Tensegrity structure is a kind of special tensioning truss structure that is composed of compressive bar and tension cable, the component of the structure only carry axial load. This structure has become a research hotspot in the field of sculpture, architecture, aviation, etc. At present, the study of tensegrity robot is in progress. It’s type many and has vast purposes. The study of the tensegrity robot is mainly concentrated in ball-like tensegrity robot. This article will take with the ball-like tensegrity robot as the research object, and the tensegrity robot which has the interior space will be studied.Tensegrity structure is the structure subject of the ball-like tensegrity robot. Starting with the configuration of tensegrity structure, the mathematical model of the structure will be established, and the relationship between the parameters and the position of the nodes, the node vector matrix and relationship of nodes and components will be determined. On the basis of connection matrix and member matrix of the ball-like tensegrity structure, the relationship between the overall dimension and the interior space will be discussed.For the problems of ball-like tensegrity structure stability, the force balance equation of structure will be established in accordance with the mathematical model of tensegrity structure. The mobility of mechanisms and state of self-stress will be obtained by the balance matrix and the structure’s classification will be determined. The decision on the criteria for stability of tensegrity structure in deformation statewill get from fish-swarm algorithm. At the same time, the force situation optimization of the components will be established.The selection of the ball-like tensegrity robot driving method is analyzed. Compared with existing driving methods of the tensegrity robot, two kinds of driving schemes suitable for the structural characteristics of tensegrity structure are proposed. And the final driving scheme will be obtained by the further simulation analysis for the driving scheme and comparing the drive efficiency of the two kinds of driving schemes.Shock resistance of the ball-like tensegrity robot is analyzed. Two kinds of test modes are proposed with the reference to the experimental method of the landing test of the external star detector, one of which has the same height and the different numbers of landing place while the other has the same height and the different jump foot type. The wallop to tensegrity structure which touchs the groundin different situations will be obtained by the simulation analysis with the two kinds of the test modes. The absorption rate is calculated and shock resistance of tensegrity structure is checked according to the simulation data of the rigid truss obtained with the same test mode.The problem of the moving ball-like tensegrity robot is analyzed. The driving method and the movement route are studied using the parallel mode which is composed by practical tests and simulation. The preliminary structure properties of tensegrity structure are set in the simulation analysis. Design code for drive and control method and study the locomotive gait of the ball-like tensegrity robot, Motion scheme and the movement route of the ball-like tensegrity robot are obtained. Put up the practicality model of the ball-like tensegrity robot in the practical test. And the control operation is carried out according to the simulation results.Motion scheme and control scheme are checked. Adjusts the motion scheme by comparing the movement of the ball-like tensegrity robot in two kinds situations and the finalcontrol mode is achieved.更多还原