基于变形车轮的移动机构研究
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摘要
各种地面移动机构在快速性、越障性、平稳性等方面都各有长短,研究开发一种性能全面的移动机构一直是各发达国家的研究热点。
轮式移动机构向来以平稳、快速见长,但越障性较差,故提高其越障性能一直是人们研究的重点。本文通过对国内外轮式移动机构越障能力的研究,结合对现有轮式车辆越障性能及越障要求的分析,提出了四种利用连杆机构提高轮式移动机构越障性能的方案,并对各方案进行了初步的机构选型、步态及越障性能分析,通过对各方案优缺点的对比分析,选出变形车轮方案进行深入研究。
为验证所选方案的可行性,本文对变形车轮进行了运动学分析,并计算了车轮在两种变形情况下的缩放比,在对移动机构进行越障性能分析的基础上,利用ADAMS软件对其进行虚拟样机仿真。
通过理论分析和运动仿真,对移动机构的主要零部件进行了选型和设计。利用Solid Edge对整个系统进行了建模,并对所有零部件模型进行了总装,在组装过程中检验了设计的合理性；绘制了设计零件的图纸,进行了移动机构的样机加工试制。
通过对样机的实验再次证明了概念的正确性。实验还表明该移动机构的结构和控制都比较简单,且成本较低。
Since different ground-moving mechanisms have unbalanced performances on their speedability, obstacle capability and stability, it has been always a hotspot to develop a all-round ground-moving mechanism for developed countries.
Wheeled mobile mechanism is a steady and fast mobile mechanism but obstacle capability, so improving its performance on obstacle-navigation is a research highlight all the time. According to the research on obstacle-navigation performance of wheeled mobile mechanism at home and abroad, and combining with the analysis on already existed performance and requirements of wheeled vehicle, this thesis puts forward four kinds of solutions utilized link mechanism to improve obstacle capability, which are preliminarily carried on by institution selection, and gait and obstacle-navigation performance analysis. Finally transformable wheel scheme is picked up among the four after comparation and study deeply.
To prove the feasibility of the transformable wheel scheme, kinematics analysis is carried out, and the wheel scaling is calculated in two extremity cases. With the analyzed obstacle-navigation performance of the wheeled vehicle, ADAMS software is used for the virtual prototype simulation analysis.
After the theoretical analysis and dynamic simulation, the main components of the body are designed or procure from the market. The whole system model is established and assembled by Solid Edge. The rationality of the whole mechanism is checked out in this process simultaneously. At last the prototype is assembled after all the designed components of the robot are drawn and manufactured.
The correctness of the concept is proved once more after the prototype experiment is carried out. The mechanical structure and controlling system of the mobile mechanism are simple. Besides, the cost is also considerable.
轮式移动机构向来以平稳、快速见长,但越障性较差,故提高其越障性能一直是人们研究的重点。本文通过对国内外轮式移动机构越障能力的研究,结合对现有轮式车辆越障性能及越障要求的分析,提出了四种利用连杆机构提高轮式移动机构越障性能的方案,并对各方案进行了初步的机构选型、步态及越障性能分析,通过对各方案优缺点的对比分析,选出变形车轮方案进行深入研究。
为验证所选方案的可行性,本文对变形车轮进行了运动学分析,并计算了车轮在两种变形情况下的缩放比,在对移动机构进行越障性能分析的基础上,利用ADAMS软件对其进行虚拟样机仿真。
通过理论分析和运动仿真,对移动机构的主要零部件进行了选型和设计。利用Solid Edge对整个系统进行了建模,并对所有零部件模型进行了总装,在组装过程中检验了设计的合理性；绘制了设计零件的图纸,进行了移动机构的样机加工试制。
通过对样机的实验再次证明了概念的正确性。实验还表明该移动机构的结构和控制都比较简单,且成本较低。
Since different ground-moving mechanisms have unbalanced performances on their speedability, obstacle capability and stability, it has been always a hotspot to develop a all-round ground-moving mechanism for developed countries.
Wheeled mobile mechanism is a steady and fast mobile mechanism but obstacle capability, so improving its performance on obstacle-navigation is a research highlight all the time. According to the research on obstacle-navigation performance of wheeled mobile mechanism at home and abroad, and combining with the analysis on already existed performance and requirements of wheeled vehicle, this thesis puts forward four kinds of solutions utilized link mechanism to improve obstacle capability, which are preliminarily carried on by institution selection, and gait and obstacle-navigation performance analysis. Finally transformable wheel scheme is picked up among the four after comparation and study deeply.
To prove the feasibility of the transformable wheel scheme, kinematics analysis is carried out, and the wheel scaling is calculated in two extremity cases. With the analyzed obstacle-navigation performance of the wheeled vehicle, ADAMS software is used for the virtual prototype simulation analysis.
After the theoretical analysis and dynamic simulation, the main components of the body are designed or procure from the market. The whole system model is established and assembled by Solid Edge. The rationality of the whole mechanism is checked out in this process simultaneously. At last the prototype is assembled after all the designed components of the robot are drawn and manufactured.
The correctness of the concept is proved once more after the prototype experiment is carried out. The mechanical structure and controlling system of the mobile mechanism are simple. Besides, the cost is also considerable.
引文
[1]王田苗,刘进长.机器人技术主题发展战略的若干思考[J].中国制造业信息化,2003,32(1)：31-35.
[2]黄真,孔令富,方跃法.并联机器人机构学理论及控制[M].北京：机械工业出版社,1997,2-11.
[3]张明路,丁承君.移动机器人的研究现状与趋势[J].河北工业大学学报,2004(2)：110-115.
[4].王鹏飞,孙立宁,黄博.地面移动机器人系统的研究现状与关键技术[J].机械设计,2006,23(7)：1-4.
[5]李磊,叶涛.移动机器人技术研究现状与未来[J].机器人,2002,24(5)：475-480.
[6]蔡自兴.中国的智能机器人研究[J].莆田学院学报,2002,6(3)：36-39.
[7]Lamon Pierre.3D-Position Tracking and Control for All-Terrain Robots[J]. Springer Berlin/ Heidelberg:Springer Tracts in Advanced Robotics.2008(43)
[8]徐国华,谭民.移动机器人的发展现状及其趋势[J].机器人技术与应用,2001(3)：7-14.
[9]陈秉聪.车辆行走机构形态学及仿生减粘脱土理论[M].北京：机械工业出版社.2001.10.
[10]陈德兴,陈秉聪,张书军.步行轮机构原理[J].农业工程学报,1994(2)：123-129.
[11]陈德兴等.一种新型行走机构—机械传动式步行轮的研究[J].有色金属,1994(3)：7-11.
[12]Andrew D. Horchler, Roger D. Quinn, Bram Lambrecht et al. Highly Mobile Robot that Can Run and Jump[P]. US 7,249,640 B2.
[13]Jeremy M. Morrey, Bram Lambrecht, Andrew D. Horchler et al. Highly Mobile and Robust Small Quadruped Robots[C]//Proceedings of the Conference on Intelligent Robots and Systems. Las Vegas, Nevada October 2003:82-87
[14]Lambrecht B G A, Horchler A D, Quinn R D. A Small Insect Inspired Robot that Runs and Jumps[C]//Proceeding of the IEEE International Conference on Robotics and Automation. Barcelona:IEEE,2005:1240-1245
[15]Allen T J, Quinn R D, Bachmann R J et al. Abstracted Biological Principles Applied with Reduced Actuation Improve Mobility of Legged Vehicles [C]//Proceedings of the IEEE International Conference on Intelligent Robots and Systems. Las Vegas:IEEE,2003: 1370-1375
[16]邓宗全,高海波,胡明,王少纯.行星越障轮式月球车的设计[J].哈尔滨工业大学学报,2003,35(2)：156-161.
[17]邓宗全,高海波,王少纯,胡明.行星轮式月球车的越障能力分析[J].北京航空航天大学学报,2004,30(3)：197-201.
[18]邓宗全,高海波,胡明,王少纯.行星轮式月球车移动系统的关键技术[J].机械工程学报,2005,42(12)：157-161.
[19]Malenkov Mikail et al. Innovative Mars Exploration Rover Using Inflatable or Unfolding Wheels[C]. In Proceedings of the 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation 'ASTRA 2006' ESTEC, Noordwijk, The Netherlands, November 28-30,2006.
[20]Ch. Grand, Ph. Bidaud et al. Innovative Concept of Unfoldable Wheel with an Active Contact
Adaptation Mechanism[R].12th IFToMM World Congress, Besanc.on, June 18-21,2007
[21]Specimens of Space Technology, Earth-Based Demonstrators of Planetary Rovers, Running Mock-ups.1963-2002 Saint-Petersburg, Joint-Stock Company Russian Mobile Vehicles Engineering Institute
[22]Williams et al. Walking Wheeled Vehicle [P]. US 3,842,926
[23]V. Krovi, V. Kumar,. Modeling and Control of a Hybrid Locomotion System[J]. ASME JOURNAL of MECHANICAL DESIGN,1999(121):448-455.
[24]Salvatore Guccione, Giovanni Muscato. The Wheeleg Robot[C]. In Proc. IEEE/RSJ Int. Conf. Robotics and Automation Magazine,2003:33-43.
[25]C. Tavolieri et al. A Design of a New Leg-Wheel Walking Robot[R].2007 Mediterranean Conference on Control and Automation, July 27-29,2007, Athens-Greece.
[26]曾志斌.军用越野车越野性能分析[J].客车技术与研究,2007(5)：24-26.
[27]黄松,徐满年,周忠胜.东风“猛士”高机动性越野汽车的技术创新[J].汽车科技增刊,2008(2)：1-6.
[28]赵劲松,舒华,马洪文,朱峰.风行天下—东风“猛士”高机动性越野车管窥[J].汽车运用,2008(10)：15-16.
[29]X-Z Wei, Y-A Yao, Y-B Tian et al. A New Method of Creating Expandable Structure for Spatial Objects[J]. JMES, J. Mech,2006(220):1813-1818.
[30]C M Gosselin, D Gagnon-Lachance. Expandable Polyhedral Mechanisms Based on Polygonal One-degree-of-freedom Faces[J]. JMES, J.Mech,2006(220):1011-1018.
[31]杨廷力.机器人机构拓扑结构学[M].机械工业出版社,2004.
[32]赵铁石,黄真.一种三维移动并联平台机构的运动学分析[J].中国机械工程,2001,12(6)：613-615.
[33]陈殿生,黄宇,王田苗.轮式腿型机器人的越障分析与仿真[J].北京航空航天大学学报,2009,35(3)：371-375.
[34]石侃.四杆机构与轮式复合移动机器人的研究[D].北京交通大学,2007.
[35]韩广,王田苗,梁建宏等.一种有效爬楼梯的模块化可重组履带机构[J].机器人,2004,26(5)：400-403.
[36]乔凤斌,谢霄鹏,杨汝清.基于准极限理论的排爆机器人直流电机选择[J].上海交通大学学报,2005,39(6)：892-895.
[37]陈立平,张云清,任卫群.机械系统动力学分析及ADAMS应用教程[M].北京：清华大学出版社,2005.
[38]欧青立,何克忠.室外智能移动机器人的发展及其关键技术研究[J].机器人,2000,6(6)：519-525.
[39]马香峰.机器人机构学[M].北京：机械工业出版社,1991.
[2]黄真,孔令富,方跃法.并联机器人机构学理论及控制[M].北京：机械工业出版社,1997,2-11.
[3]张明路,丁承君.移动机器人的研究现状与趋势[J].河北工业大学学报,2004(2)：110-115.
[4].王鹏飞,孙立宁,黄博.地面移动机器人系统的研究现状与关键技术[J].机械设计,2006,23(7)：1-4.
[5]李磊,叶涛.移动机器人技术研究现状与未来[J].机器人,2002,24(5)：475-480.
[6]蔡自兴.中国的智能机器人研究[J].莆田学院学报,2002,6(3)：36-39.
[7]Lamon Pierre.3D-Position Tracking and Control for All-Terrain Robots[J]. Springer Berlin/ Heidelberg:Springer Tracts in Advanced Robotics.2008(43)
[8]徐国华,谭民.移动机器人的发展现状及其趋势[J].机器人技术与应用,2001(3)：7-14.
[9]陈秉聪.车辆行走机构形态学及仿生减粘脱土理论[M].北京：机械工业出版社.2001.10.
[10]陈德兴,陈秉聪,张书军.步行轮机构原理[J].农业工程学报,1994(2)：123-129.
[11]陈德兴等.一种新型行走机构—机械传动式步行轮的研究[J].有色金属,1994(3)：7-11.
[12]Andrew D. Horchler, Roger D. Quinn, Bram Lambrecht et al. Highly Mobile Robot that Can Run and Jump[P]. US 7,249,640 B2.
[13]Jeremy M. Morrey, Bram Lambrecht, Andrew D. Horchler et al. Highly Mobile and Robust Small Quadruped Robots[C]//Proceedings of the Conference on Intelligent Robots and Systems. Las Vegas, Nevada October 2003:82-87
[14]Lambrecht B G A, Horchler A D, Quinn R D. A Small Insect Inspired Robot that Runs and Jumps[C]//Proceeding of the IEEE International Conference on Robotics and Automation. Barcelona:IEEE,2005:1240-1245
[15]Allen T J, Quinn R D, Bachmann R J et al. Abstracted Biological Principles Applied with Reduced Actuation Improve Mobility of Legged Vehicles [C]//Proceedings of the IEEE International Conference on Intelligent Robots and Systems. Las Vegas:IEEE,2003: 1370-1375
[16]邓宗全,高海波,胡明,王少纯.行星越障轮式月球车的设计[J].哈尔滨工业大学学报,2003,35(2)：156-161.
[17]邓宗全,高海波,王少纯,胡明.行星轮式月球车的越障能力分析[J].北京航空航天大学学报,2004,30(3)：197-201.
[18]邓宗全,高海波,胡明,王少纯.行星轮式月球车移动系统的关键技术[J].机械工程学报,2005,42(12)：157-161.
[19]Malenkov Mikail et al. Innovative Mars Exploration Rover Using Inflatable or Unfolding Wheels[C]. In Proceedings of the 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation 'ASTRA 2006' ESTEC, Noordwijk, The Netherlands, November 28-30,2006.
[20]Ch. Grand, Ph. Bidaud et al. Innovative Concept of Unfoldable Wheel with an Active Contact
Adaptation Mechanism[R].12th IFToMM World Congress, Besanc.on, June 18-21,2007
[21]Specimens of Space Technology, Earth-Based Demonstrators of Planetary Rovers, Running Mock-ups.1963-2002 Saint-Petersburg, Joint-Stock Company Russian Mobile Vehicles Engineering Institute
[22]Williams et al. Walking Wheeled Vehicle [P]. US 3,842,926
[23]V. Krovi, V. Kumar,. Modeling and Control of a Hybrid Locomotion System[J]. ASME JOURNAL of MECHANICAL DESIGN,1999(121):448-455.
[24]Salvatore Guccione, Giovanni Muscato. The Wheeleg Robot[C]. In Proc. IEEE/RSJ Int. Conf. Robotics and Automation Magazine,2003:33-43.
[25]C. Tavolieri et al. A Design of a New Leg-Wheel Walking Robot[R].2007 Mediterranean Conference on Control and Automation, July 27-29,2007, Athens-Greece.
[26]曾志斌.军用越野车越野性能分析[J].客车技术与研究,2007(5)：24-26.
[27]黄松,徐满年,周忠胜.东风“猛士”高机动性越野汽车的技术创新[J].汽车科技增刊,2008(2)：1-6.
[28]赵劲松,舒华,马洪文,朱峰.风行天下—东风“猛士”高机动性越野车管窥[J].汽车运用,2008(10)：15-16.
[29]X-Z Wei, Y-A Yao, Y-B Tian et al. A New Method of Creating Expandable Structure for Spatial Objects[J]. JMES, J. Mech,2006(220):1813-1818.
[30]C M Gosselin, D Gagnon-Lachance. Expandable Polyhedral Mechanisms Based on Polygonal One-degree-of-freedom Faces[J]. JMES, J.Mech,2006(220):1011-1018.
[31]杨廷力.机器人机构拓扑结构学[M].机械工业出版社,2004.
[32]赵铁石,黄真.一种三维移动并联平台机构的运动学分析[J].中国机械工程,2001,12(6)：613-615.
[33]陈殿生,黄宇,王田苗.轮式腿型机器人的越障分析与仿真[J].北京航空航天大学学报,2009,35(3)：371-375.
[34]石侃.四杆机构与轮式复合移动机器人的研究[D].北京交通大学,2007.
[35]韩广,王田苗,梁建宏等.一种有效爬楼梯的模块化可重组履带机构[J].机器人,2004,26(5)：400-403.
[36]乔凤斌,谢霄鹏,杨汝清.基于准极限理论的排爆机器人直流电机选择[J].上海交通大学学报,2005,39(6)：892-895.
[37]陈立平,张云清,任卫群.机械系统动力学分析及ADAMS应用教程[M].北京：清华大学出版社,2005.
[38]欧青立,何克忠.室外智能移动机器人的发展及其关键技术研究[J].机器人,2000,6(6)：519-525.
[39]马香峰.机器人机构学[M].北京：机械工业出版社,1991.
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