摘要
针对煤矿灾后复杂的特殊环境,研制了一种具有内圆箍无外圈的叶片轮式蛇形救援机器人。该机器人总长度为1 m,共5节。由蛇头、蛇身和蛇尾组成,其中,蛇头部分由传感器组和夜视仪组成;蛇身部分由5个单元模块、5个连接板、4个正交关节、2个速度舵机组成;蛇尾部分由主控制器、避障模块、通信模块和动力源组成。通过控制正交关节处的方向舵机实现机器人蜿蜒、直线、伸缩、抬头等位姿的改变。机器人的移动机构采用自制叶片轮驱动,具有更好地翻越、攀爬障碍物的能力。通过2个速度舵机驱动10个直流减速电机带动10个叶片轮前进,从而实现控制蛇形机器人运动速度的目的;在此基础上建立机器人运动步态数学模型,分析模型中各个参数对机器人不同运动步态的影响,找到最佳运动参数。在模拟的煤矿巷道中,将仿真得到最佳运动参数运用到对蛇形机器人的运动控制实验中。实验测试表明当蛇形曲线初始角为π/4,机器人偏转角的比例系数为2π时,蛇形机器人蜿蜒和伸缩运动效果最佳。当参数在5到15之间时,蛇形机器人抬头运动效果最佳。该研究为蛇形机器人进一步完成煤矿救援任务奠定了基础。
In view of the complex special environment after coal mine disaster,a blades wheels snake rescue robot with the inner circle hoop without the outer ring was developed.The total length of the robot is 1 m with five sections.The snake robot is composed of the head,body,and tail.Among them,the head part is consisted of sensors and night vision device.The body part is composed of five unit modules,five connecting plates,four orthogonal joints,and two speed servomotors.The tail part is made up of master controller,obstacle avoidance module,communication module,and power source.By controlling the direction servomotors in the orthogonal joints,the robot can change its posture such as serpentine,straight,concertina,head raising,etc.The mobile mechanism of the robot is driven by the self-made blades wheels,which make the robot has the function of better capability to climb and surmount obstacle.By controlling the speed servomotors,the direct current speed reduction motors are driven to motivate the blades wheels to rotate,and then the purpose of controlling the speed of the snake robot is realized.On this basis,the mathematical models of robot’s motion gaits are established.In order to achieve the best motion parameters,the influence of each parameter in the models on the robot gaits is analyzed.In the simulated mine tunnel,the simulated optimal parameters are applied to the motion control experiments of snake robot.The experimental results show that when the initial angle of the snake curve isπ/4 and the scale coefficient of the deflection angle of the robot is 2π,the effect of serpentine and concertina motion is the best;when the parameters are between 5 and 15,the effect of head raising motion is the best.This research lays the foundation for snake robot to further complete the rescue task of coal mine.
作者
白云
侯媛彬
BAI Yun;HOU Yuan-bin(Engineering Training Center,Xi’an University of Science and Technology,Xi’an 710054;College of Electrical and Control Engineering,Xi’an University of Science and Technology,Xi’an 710054,China)
出处
《西安科技大学学报》
CAS
北大核心
2018年第5期800-808,共9页
Journal of Xi’an University of Science and Technology
基金
中煤科工集团科技创新项目(KJ3013-XBMJ-03)
西安科技大学培育基金(2013024)
作者简介
通信作者:白云(1974-),女,陕西西安人,博士研究生,工程师,E-mail:494361962@qq.com
