带有操作臂的单轮探测机器人的改进和控制-机械电子工程专业论文.pdf.docxVIP

哈尔滨工 哈尔滨工业大学工学硕士学位论文 A bstract Planetary exploration robots are becom ing m iniaturized and m ulti-robot cooperation of such sm all robots is the developing trend. Few er tasks w ill be perform ed w ith robots becom ing sm aller.Thus,to m aintain as m any functions as possible w hile m iniaturizing planetary robots is very im portant. Single-w heeled rover w ith an arm equipped, introduced and developed in this paper, has tw o w orking m ode:m anipulation m ode and locom otion m ode.The rovernotonly can w ork by itself as a single-w heeled robot,butalso can be connected w ith another. M oreover, the single-w heeled rover can be connected to the m other rover as a driving child unit. B ecause of the low stiffness of the original robot, change the supporting structure of w rist. B y integrating the m anipulator, steeper m otor and control board, solve the problem of the lim ited w ork space by alignm ent. R edesign stepperm otorand r/c servo drive circuits to increase the driving capability. B ased on the D -H m ethod get robotkinem atics and inverse kinem atics; using the law of N ew tonian m echanics and considering the robot structure, get the obstacle surm ounting conditions, crossing ditch condition, clim bing conditions, turning m ode and the conversation condition betw een m anipulation m ode and the locom otion m ode; using the characteristic of robot’s m anipulator length can change,plan the obstacle surm ounting process. U se Lyapunov function to design speed m odel tracking controller and acceleration m ode tracking controller in order to achieve the targettracking,and m atlab sim ulation proves thatthe tracking controller design is correct. C onstruct the experim ental system , do the rotating w ith gripper as axis, fetching and dropping experim ents in the m anipulation m ode. D o obstacle surm ounting, clim bing experim ents in locom otion m ode. D o the transform ation experim ent from locom otion m ode and m anipulation m ode. C