【作者】 张磊；

【导师】 徐一村；

【作者基本信息】 郑州大学 ， 工程硕士（专业学位）， 2021， 硕士

【摘要】 生物界中的鱼、蛇依靠身体左右摆动与外界环境交互,通过这种往复运动将侧向力转化为前进的驱动力,整体运动不偏离原有的前进方向,具有“抑制或减弱横向侧滑运动”的特点,这种运动方式称为“抗侧滑特性运动”。鱼、蛇的往复运动方式适应了复杂的环境,有利于自身的运动,推进效率较高,研究人员通过研究鱼游动和蛇爬行的运动机理,研制了机器鱼、机器蛇等仿生机构。本课题在现有的研究基础上,提取了机器鱼、机器蛇摆动推进的运动特征,设计了一款具有“抗侧滑特性”运动特征的从动轮式机器人,探究了机械结构、关节输入控制及多因素耦合对机器人“抗侧滑特性”运动的影响,主要内容如下:(1)概括了抗侧滑特性运动的特征,提取了机器鱼、机器蛇、活力板等摆动推进的运动特征,确定了具有抗侧滑特性的推进装置的设计方案,完成了轮式机器人的机械结构设计和三维建模。(2)以从动轮式机器人为研究对象,进行了运动受力分析。基于无侧滑约束建立了机器人的运动学方程,利用拉格朗日方程建立了机器人的动力学模型,利用数学公式定义了机器人的推进效率,为后续的实验研究奠定了理论基础。(3)建立了轮式机器人的虚拟样机模型,利用ADAMS软件对轮式机器人进行了运动仿真,分别研究了舵机运动因素、工作环境因素、机械结构因素、多因素耦合对机器人运动性能的影响,确定了机器人的最佳运动性能及对应的机械结构参数、舵机控制参数,为后续的样机实验提供了参考。(4)搭建了从动轮式机器人的实验平台,完成了机械系统、控制系统、数据测量系统的设计。根据实验方案,完成了机器人在不同条件下的运动实验,将实验结果与仿真结果进行了对比,二者结果趋势一致,确定了机器人的最佳运动性能及对应影响因素的参数设置。实验结果表明:改进后的机器人运动性能得到明显提升。更多还原

【Abstract】 Fishes and snakes in the biological world interact with the external environment by swinging.Through these reciprocating movements,the lateral force is converted into the forward driving force.The integral movement does not deviate from the original forward direction,and has the characteristics of “restraining and weakening lateral sliding movement”.This mode of motion is called “anti sideslip characteristic movement”.The reciprocating movement of fishes and snakes adapts to complicated environment and is beneficial to their own movement.It has high propulsion efficiency.Researchers have developed biomimetic mechanisms such as robotic fish and robotic snake by studying the mechanism of fishes swimming and snakes crawling.On the basis of these existing researches,this paper extracts the motion characteristics of the oscillating propulsion of the robot fish and the robotic snake.A driven wheel robot with the characteristics of ‘anti sideslip’ is designed.The mechanism and experimental research of the anti sideslip characteristics of the robot are carried out.The influence of the mechanical structure,joint input control and multi factor coupling on the "anti sideslip characteristics" motion are studied.The main contents of the impact are as follows:(1)The characteristics of anti-sideslip motion are summarized,the motion characteristics of swing propulsion such as robotic fish,robotic snake and vigor board are extracted,the design scheme of the propulsion with anti-sideslip characteristics is determined,and the mechanical structure design and three-dimensional modeling of the wheel-type robot are completed.(2)Taking the driven wheel robot as the research object,the motion force analysis is carried out.The robot’s kinematics equations are established based on no sideslip constraint,the dynamics model of the robot is established by using the Lagrange equation,and the propulsion efficiency of the robot is defined by using the mathematical formula,which lays a theoretical foundation for the subsequent experimental research.(3)The three-dimensional model of wheel robot is established and utilize ADAMS to simulate wheel robot.The influence of actuator motion,working environment,mechanical structure and multi factor coupling on the robot motion performance are studied respectively.Then,determine the optimal motion performance,corresponding mechanical structure parameters and actuator control parameters of the robot,which provide a reference for the subsequent prototype experiments.(4)The experimental platform of the driven wheel robot is built,and the design of the mechanical system,control system,and data measurement system is completed.According to the experimental plan,the robot’s motion experiments under different conditions are completed,and the experimental results are compared with the simulation results.The trends of the two results are consistent,and the optimal motion performance of the robot and the parameter settings of the corresponding influencing factors are determined.The experimental results show that the kinematic performance of the improved robot is significantly improved.更多还原