割草机器人机械系统设计与研究-机械电子工程专业论文.docx

华中科技大学硕士学位论文 华 中 科 技 大 学 硕 士 学 位 论 文 II II Abstract Economic development in recent years promotes urban greening process rapidly, and green lawn has gradually become a trend. More and more foreign families pay more attention to landscaping the living environment, which accelerates the progress of lawn industry. Every year, it consumes lots of resources to maintain those public area lawns such as grassy in family yard. Further more, those traditional lawn mowers will also bring noise and exhaust air pollution, which have a serious impact on the physical and mental health of workers. In order to liberate labors from high repetition, boring mowing work, it is necessary to develop a kind of robot mower. The thesis first introduces and compares existing mower robots, point out the key technologies and deficiencies of robot mower. According to the needs of robot mower mechanism, a simple four-wheeled structure is chosen. In response to requests of work condition and motion, first, we scheme out the mechanical framework of robot mower, including robot body, driving wheels, universal wheels and so on. Then, according to the force model in lawn, the driving motor parameters are confirmed by parameters such as the mass and dimensions of robot, and the driving motors are selected on this basis. Finally, a special adjustable cutting mechanism for the robot is designed according to its lawn trimming task. The mathematical model of robot mower is established. Based on the research of mathematics model of the kinematics and dynamics for the robot, we design the trajectory following law according to the nonholonomic dynamic model of robot mower by using the backstepping method. With robot characteristics assigned, matlab simulation is executed. The experimental results are also given. Desired tracking features of robot are verified. On this basis, a detailed description of the full-area coverage study is given, including region coverage testing standards, work area division, re