2019年救援机器人工程设计及带式移动系统结构分析.doc

救援机器人工程设计及带式移动系统结构分析 摘 要 我国是世界上灾难发生最为严重的少数国家之一，具有灾害种类多、发生频率高和分布地域广等特点。救援机器人正是为了灾难救援的现实需求而提出的。本课题将研究机器人技术在灾难救援领域的一种应用，其商业化产品应能部分代替救援队员进入危险环境执行有哪些信誉好的足球投注网站救援任务，并将感知的现场信息传送给场外控制人员，为各类救援策略的制定提供有价值的支持。本课题主要对救援机器人系统结构进行分析，并依据典型的救援环境设计出具有越障功能的机器人。 本文主要完成了以下工作： （1）通过比较国内外救援机器人的典型结构和详细的讨论分析，确定了救援机器人的行走方案，即四摆臂履带救援机器人。 （2）通过分析四摆臂履带机器人的机构特点，设计了机器人的传动系统，选择合适的动力源，并对机器人内部进行合理布置。在机器人具体设计过程中采用了模块化设计思想，将机器人分为主体模块、行走模块、摆臂模块，总体结构对称、紧凑，布局合理。 （3）基于模拟的灾难环境，对救援机器人的行走越障过程进行运动学分析。针对特定障碍，设计出了一系列动作姿态。 关键词：救援机器人；履带；传动方案；越障 Contact points detection for tracked mobile robots using inclination of track chains ABSTRACT —A tracked mobile robot has high mobility and stability to get over rough terrain by changing its form according to environments. However, it is hard for an operator to control the mechanism skillfully by remote control. One of the solutions of the problem is an implementation of an autonomous control system. A detection of distributed contact points between the crawlers and an environment enable the autonomous control. In this paper, the authors propose a distributed contact sensor for tracked vehicle. In order to apply touch sensors to each track shoe, a problem of electric wirings has to be solved because the crawler is rotating continuously. In our proposed method, Contact points are detected by measuring inclination if track shoes optically. For optical sensing of the inclination, a special reflector is designed and evaluated. The authors developed a method for distributed contact sensing of tracked vehicle, and examined whether the sensor can detect contact point during the step climbing motion. Keywords—Search and Rescue Robots, Tracked Mobile Robots, Distributed touch Sensor, Inclination of Track Chains, View Angle Filter 目 录 TOC \o 1-3 \h \z \u HYPERLINK \l _Toc356731286 摘 要 PAGEREF _Toc356731286 \h i HYPERLINK \l _Toc356731287 ABSTRACT PAGEREF _Toc356731287 \h ii HYPERLINK \l _Toc356731288 目 录 PAGEREF _Toc356731288 \h iii HYPERLINK \l _Toc356731289 第一章 绪 论 PAGEREF