【作者】 林永光；

【导师】 赵铁石；

【作者基本信息】 燕山大学 ， 机械电子工程， 2006， 硕士

【摘要】 蛇形机器人由于具有很高的运动稳定性和环境适应能力等特点,适合于在水下地下管道、凹凸不平的地面等特殊的环境中工作,开始受到国内外学者的广泛关注,因而成为机器人领域的一个新的研究热点。而欠驱动蛇形机器人由于动力学的耦合,能够使被动关节产生特定的运动,从而实现类似于生物蛇的优美、自然的动作。本文先对第一台空间机构蛇形机器人进行运动学分析,接着对蛇形曲线进行了轨迹规划。又重新设计、研制出第二台具有欠驱动关节的蛇形机器人,两台蛇形机器人实现了运动控制。首先,论文分析了第一台蛇形机器人的空间机构并对该蛇形机器人进行位置分析、速度分析和角速度分析。得到关节夹角、角速度、角加速度和相应电机转角、角速度、角加速度之间的关系。其次,论文通过蛇形曲线轨迹规划对不同的蛇形机器人运动方式选取合理的蛇形曲线参数值,并且根据蛇形机器人实际情况,编写MATLAB程序进行蜿蜒、向左转向、向右转向运动仿真及这三种运动过程等仿真。再次,论文在分析了蛇形机器人的运动的基础上通过运动控制使第一台蛇形机器人实现更多的运动方式,并介绍了第二台具有弹性储能关节的欠驱动蛇形机器人的系统集成和运动轨迹规划。最后,论文利用影响系数法和牛顿-欧拉法分析了RPR串联机构动力学逆问题并得到其运动学参数和动力学参数,并编写MATLAB程序得到相应结果。论文的理论分析和实验工作为蛇形机器人进一步研究提供了参考。研制的欠驱动蛇形机器人进一步丰富了欠驱动理论的应用。更多还原

【Abstract】 Snake-like robots have characteristics, such as high motion stability andenvironment adaptability. And these characteristics make them suitable to workunder special environments, such as submarine and underground ducts, unevengrounds. So they attract the attention of scholars all over the world and becomea new hot issue of research on robots. Under-actuated robots can cause thepassive joints to have the specific movements, thus realize natural movementssimilar to snake as a result of dynamic coupling. In this dissertation, we carryon kinematics analysis to the first snake-like robot with spatial mechanism. Andwe do research on Serpenoid Curve. Then we design and make a secondsnake-like robot with under-actuated joint. And we carry on the path plan to thetwo snake-like robots, and they realize the motion control.Firstly, this dissertation analyzes the spatial mechanism of the firstsnake-like robot and carries on its position analysis, velocity analysis andacceleration analysis. And the relations between the joint angle, angle velocity,angle acceleration and the corresponding servo angle, angle velocity, angleacceleration are obtained.Secondly, we choose suitable curve parameters for different motion modesby Serpenoid path plan. And we imitate wriggling motion, left swerve motion,right swerve motion, their processes and so on according to the real snake-likerobot.Thirdly, based on the analysis of movement of snake-like robot, motioncontrol is made to make the first snake-like robot realize more motion modes.And this dissertation introduces the system integration and the path plan of thesecond snake-like robot with elastic joint which can store energy.Finally, we use influence coefficient method and Newton-Euler method toanalyze the kinematics and dynamics of RPR mechanism, and obtain itskinematics and dynamics parameters. And we program to obtain the outcomeusing MATLAB.The theoretical analysis and experiments of this dissertation offerreferences to deeper research on the snake-like robots. And the under-actuatedsnake-like robot enriches the application of under-actuated theory.更多还原