【作者】 王宏；

【导师】 李兵；

【作者基本信息】 哈尔滨工业大学 ， 机械工程， 2022， 硕士

【摘要】 随着现代科技的不断发展,各式各样的移动机器人应运而生。爬行机器人作为移动机器人的一个分支,常用于灾难搜救、地质勘探和环境侦察等工作。大型爬行机器人常常仅能应用于宽广的环境中,此外还有难以搬运、功耗高、噪音大等问题。为了实现狭小空间的探测工作,科学家们针对微型爬行机器人这一领域进行了多年的研究。然而自然环境中常常沟壑纵横,地势高低起伏,这对微型机器人的爬坡能力提出了挑战。面对微型爬行机器人现有的发展瓶颈,具有爬坡能力的微型机器人的出现为其提供了行之有效的解决方案。本文针对现有微型机器人难以实现大倾角粗糙面的爬行这一问题进行研究,借鉴甲虫刚度可变的跗趾仿生机理,研制出一款能够在大倾角斜面或网面爬行的微型机器人。根据甲虫跗趾的多球铰结构,研究了其在不同表面的爬行作用,并通过肌电信号与动作信号同步实验,提出了甲虫不同斜面下跗趾钩爪时序模型。在甲虫跗趾刚柔变化结构的启发下,设计了一种能够辅助微型机器人进行倾斜网面爬行的爬行机构。该机构能够像甲虫跗趾一般在绳驱作用下周期性弯爪与张爪,并同时改变跗趾的刚度。随后,研制出一款能够在网面上爬行的两驱动足微型机器人,在闭环控制下,机器人能够以两种步态在不同角度斜面上直线爬行。此外,本文针对两驱动足机器人的不足,对样机进行分析与优化。最后,开发了四驱动足微型机器人,并在斜面上以不同的直行与转向步态评估了其爬行性能和预定S形轨迹的自由爬行能力。本文从生物与机械结构两个方面验证了甲虫跗趾刚柔变化的结构对其爬行的重要性,并提出了新型的微型机器人爬行机构,为后续微型机器人粗糙斜面爬行提供了新的思路。更多还原

【Abstract】 With the development of modern science and technology,all kinds of mobile robots come into being.As a branch of mobile robot,crawling robots have been developed for off-road missions such as search and rescue,excavation,and reconnaissance missions.The size of large crawling robots are limited to a wide environment,and there are many problems with the robot such as high power consumption and large noise while working.In order to explore small spaces,scientists have been studying the field of miniature crawling robots for years.However,in the natural environment,there are often ravines and undulating terrain,which poses a challenge to the ability of micro-robots to climb hills.Faced with the development bottleneck of micro-robot,the emergence of micro-robot with climbing ability provides an effective solution.Few micro robots can travel or climb on a meshed surface because of the high risk of being stuck.In this study,we investigated the crawling process of a beetle on an incline,and attach and detach principle of the claw.The multiple ball-joint tarsus on beetle forearm was found as a variable-stiffness structure,which became soft during swinging while rigid during stretching.A beetle-claw-inspired mesh climbing mechanism was then designed,which could bend downwards and expand the claws under the cyclic actuation of a cable-and-pully-driven system.A miniature crawling robot was assembled with the mesh climbing mechanism.The robot with the bioinspired claws walked smoothly on an inclined mesh surface.Two natural walking gaits of the beetles were imitated by the robot.The robot could maintain the phase difference between two forearms under both walking gaits while climbing on the incline under closed-loop control.Furthermore,we demonstrate the robot catching and holding the mesh incline when thrown to the substrate at a high speed.In addition,this paper analyzes and optimizes the prototype for the shortcomings of the two-legged robot.Finally,a four-legged robot was developed,and its crawling performance and free crawling ability of predetermined S-shaped trajectory were evaluated with different straight and steering gaits on an inclined plane.In this paper,the importance of the rigid and flexible structure of the attached toe of the beetle to its crawling is verified from both biological and mechanical aspects.The main contribution of this work is the design and actuation of a bioinspired claw,and the development of a new strategy for micro-climbing robots to climb on the mesh surface.更多还原