两杆欠驱动抓握桁架移动机器人设计与研究-机械设计与理论专业论文.docxVIP

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 Abstract The underactuated mobile robot has the superiority of less weight and less energy consumption, because of the reduction of the driver. However the difficulties of the motion control increased at the same time. As the application of truss structure become widely, the robots which can move in the truss structure environment are required. When the mobile robot grasps the truss, there is no actuator to driver the robot move around the truss, the robot moved by brachiation, that is to say the hand of the mobile robot and the truss form an underactuated joint. Based on this point, this thesis do some research on the two links underactuated mobile robot, which moves in the truss environment. First of all, the thesis analyses the movement of the underactuated mobile robot in the truss environment. Combine with the translation type hand which has been made, do some improvement on it. Add a friction wheel transmission mechanism to measure the rotation angle between the hand of the underactuated mobile robot and the truss. Also complete the designing and processing of the underactuated mobile robot. Secondly, analysis about the two links underactuated mobile robots kinematics and dynamics has been made. Based on the dynamics, there is a study of the dynamic coupling character between the active joint and underactuated joint of the robot. The thesis designs the virtual model of the underactuated mobile robot. Direct at different initial position of the robot, some Kinematics simulations have been implemented. Afterwards, use the torque calculation method to carry out the Model-based Control of the robot. The space of motion is divided into swing-up area and snatch area. Starting from the viewpoint that the energy is changing during the movement of the underactuated robot, the thesis designs the control strategy. Finally, utilize the virtual model，the combine simulation control experiments about the movement of the two links underactua