无人机载仿生双臂机器人设计及运动学、动力学研究

DESIGN OF BIONIC DUAL-ARM ROBOT FOR UAVS AND RESEARCH ON ITS KINEMATICS AND DYNAMICS

胡永丽

11749149

硕士

机械工程

王凭慧

2019-05-30

2019-06-28

哈尔滨工业大学

深圳

近年来，无人机在各个领域的使用越来越普遍，主要任务大多是侦察和巡逻，无法与周围环境进行交互。如果将无人机与机器人结合起来，那么无人机就可以抓取和运输物品，完成地面机器人无法完成的空间任务，对于各类灾难救援有着重要的意义。本课题即着眼于高层建筑火灾现场人员救生装置应急投放的需求，展开无人机载双臂机器人的研究，重点围绕双臂机器人进行结构设计、运动学分析和动力学分析以及控制器的设计等工作。本文创新性的提出了一种可用于灾难救援的无人机载双臂机器人，仿照人体的双臂，对双臂机器人的臂杆进行结构设计，并设计了双臂机器人的夹持器结构，同时为了满足轻量化的设计要求，采用复合材料来作为双臂机器人的臂杆材料。选择了合适的驱动舵机，根据舵机尺寸图进一步修改完善结构的详细尺寸。其次，对双臂机器人的大臂和小臂进行了静力分析，并校核了夹持器的强度。通过对几种不同结构的臂杆进行对比，确定了最优的结构。通过对比不同的铺层，确定最优的铺层顺序。再次，本文基于D-H方法建立了机器人的参考坐标系，得到了正运动学方程和逆运动学方程，得到了雅克比矩阵，确定了奇点和奇异位形，计算了可操作性，同时利用MATLAB机器人工具箱对机器人进行了运动学仿真，得到了其机械臂的工作空间。依据雅克比矩阵，构建了拉格朗日方程，进行了动力学分析。最后，本文对控制部分进行了初步的设计。选取STM32作为主控芯片，设计了原理图和PCB布局，并进行了调试，设计了相关程序来控制双臂机器人各个关节驱动舵机的转动角度，实现了对机器人驱动舵机转角的控制。

In recent years, the use of unmanned aerial vehicles (UAV) has become more and more common in various fields. The main tasks are investigation and patrol. However, UAV are unable to interact with the surrounding environment. If the combination of the UAV and robots are adopted, UAV can capture and transport something, complete the space tasks that cannot be completed by the ground robots, which is of great significance for disaster rescue. This project focuses on the need of emergency rescue of personnel life-saving devices in high-rise building fire scene, and carry out the research project of dual-arm robot for UAV. The project focuses on structural design, kinematics analysis, dynamics analysis and controller design. This paper innovatively put forward a kind of UAV equipped with dual-arm robot that can be used for disaster rescue. According to the structure of the human arms, the structure of the arm is designed. And the gripper structure is designed. In order to meet the lightweight design requirements, composite materials are used for dual-arm. Then the servos are selected, and according to their sizes the structure of dual-arm robot have been modified. Secondly, the static analysis of the dual-arm robot is carried out, and the strength of the gripper is checked. The optimal structure is determined by comparing the arms of several different structures. By comparing different layers, the optimal layer order is determined. Again, based on D-H method, the reference coordinate system of the robot arm is established, and obtain the forward kinematics equations, inverse kinematics equations and the jacobian matrix. Then the singularity and the singular configuration are determined. Then through using MATLAB toolbox, robot kinematics is simulated, and the working space of the manipulator is obtained. Based on the jacobian matrix, the Lagrangian equation is constructed and the dynamics is analyzed. Finally, the controller is designed preliminarily. STM32 is selected as the main CPU, the schematic diagram and PCB layout are designed, and test is carried out. Relevant software procedure is designed to control the movement of each joint of the dual-arm robot, and the control of the servos is realized.

无人机载机器人 结构设计 静力学分析 运动学分析 动力学分析

STM32 UAV equipped with robot structural design static analysis kinematic analysis STM32

中文

联合培养

南方科技大学

胡永丽. 无人机载仿生双臂机器人设计及运动学、动力学研究[D]. 深圳. 哈尔滨工业大学,2019.