一种新型爬壁机器人机构及运动学研究

提出了一种新型爬壁机器人机构,介绍了机构的构型及结构特点,推导了运动学正、逆解方程式,规划了直线行走、平面旋转及交叉面跨越三种运动模式.机构构型及运动模式的分析表明,该机构具有体积小、运动特性较好的特点.仿真结果证明,该机器人在运动过程中所需吸附力矩较小且占据的空间较少.

双足爬壁机器人壁面凹过渡步态规划研究

针对腿足式爬壁机器人在壁面过渡时的步态规划问题,以一种真空吸附式双足爬壁机器人为研究对象,在步态分析的基础上,基于有限状态机建立了机器人的步态模型,进而提出了基于加权插值和BP神经网络的双足爬壁机器人壁面凹过渡在线步态规划算法,为提高机器人壁面过渡的自主控制能力奠定了基础.仿真分析和实验结果表明,该步态规划算法对于实际的机器人系统是有效的和可行的.

一种用于反恐侦察的爬壁机器人系统

介绍了一种用于反恐侦察的爬壁机器人系统.该系统包括3个部分:真空吸附式两足爬壁机器人、便携式遥控器和无线视频传输模块.其中,基于DSP技术开发的控制器可以使机器人在光滑的壁面上灵活地爬行、转向和跨越.文中提出了一种实现机器人在两个不同倾斜壁面之间跨越的控制算法.实验表明,该机器人体积小、噪声低、隐蔽性好;视频模块图像清晰、传输稳定;整个系统可以满足执行反恐侦察任务的基本要求.

一种全方位移动爬壁机器人系统设计

设计了一种具有适应多种壁面、越障能力强、能沿任意方向直线移动或在原地旋转任意角度的全方位移动爬壁机器人。详细论述了机器人本体机构的组成和爬壁机器人全方位移动的功能实现,并对控制系统进行了介绍。分析表明,该机器人是对高层壁面或容器清洗、喷漆及维护和检测的良好载体。

微小型爬壁机器人机构与控制方法的研究

近十年来人们对专用爬壁机器人领域的研究越来越感兴趣。如清洗高层建筑、石油气罐的喷漆喷砂、核工业设施的检测维护、援助消防和营救工作以及危险环境的远程监控等都急需一种自动化设备。爬壁机器人, 因其可以吸附墙壁表面和携带适当的传感器或工具，是这些工作的最佳候选。 本文中设计了一种反恐侦察爬壁机器人系统。在反恐侦察中，将微小型爬壁机器人上安装无线摄像头、麦克风等装置，代替侦察人员探测狭小空间内部的敌情，不但能提高侦察的准确度，还能增强安全性，减小人员伤亡。针对这一应用背景，国家863 计划提供资金开展了反恐侦察爬壁机器人样机系统的研制项目。 这种侦察爬壁机器人样机采用了两足式结构和欠驱动机构设计，使得机器人具有灵活的运动能力和多种运动方式。该机器人可以壁面爬行、穿越管道和跨越交叉面。两个有力的吸盘足依靠真空泵抽取吸盘内气体来实现吸附墙面。欠驱动机构减少了电机数量，使得机器人尺寸、重量和功耗都较小，但却对控制增加了挑战。机器人运动学方程被求出，这有助于我们理解其运动机理。 机器人上有无线遥控和无线视频传输系统分别负责接收指令和采集图像信息。针对该爬壁机器人在体积，重量，功耗和速度上的要求，本文提出了以TI公司的TMS320F2812DSP 为控制芯片的嵌入式控制系统的设计方案, 控制器的主要功能是实现多电机实时控制，搭建高效可靠的人机通讯和机器人运动规划。层次较高的操作指令采用有限状态机理论实现跟踪机器人运动状态。 电机的伺服控制，是整个控制系统设计中最基本、最重要的部分。对此本文提出了梯形速度规划和PID 控制策略，经过参数优化，基本达到了控制精度的要求。 最后，通过实验验证了机器人高效的能力，表明侦察爬壁机器人样机系统具备了执行反恐侦察的基本功能。

仿尺蠖微小型壁面移动机器人运动规划与控制研究

本论文的研究内容是围绕国家“863”计划支持项目“基于探测机器人技术的反恐立体侦察监控示范系统”（编号：2004AA420110）和“微小型反恐侦察移动平台和探测关键技术研究”（编号：2005AA420230）展开的。研究工作以微小型壁面移动机器人的研制为实际背景，主要包括以下五个方面的内容：⑴ 机器人的运动学、动力学分析和控制系统设计；⑵ 机器人的运动步态分析；⑶ 机器人在狭窄空间中的运动规划方法研究，以及在壁面过渡时的运动规划方法研究；⑷ 欠平滑壁面上机器人的自主行为控制和针对动力学特性的重力补偿控制研究；⑸ 论文所提出方法的仿真分析和实验研究。 第一，介绍了微小型壁面移动机器人的欠驱动机构设计和三种运动模式；分别基于D-H坐标变换和拉格朗日方法，对机器人的运动学和动力学特性进行了分析，为接下来的步态分析、运动规划和控制研究奠定了基础；开发了微小型壁面移动机器人的嵌入式DSP控制系统，为论文中的仿真和实验研究提供了物理平台。 第二，对尺蠖的生物特征和运动机制进行了简要介绍，并总结了尺蠖运动的特点；通过理论计算和实验测试，分析了微小型壁面移动机器人的步行稳定性；在机构设计和运动学建模基础上，全面地分析了微小型壁面移动机器人的各种基本步态、派生步态和壁面过渡步态，同时引入用以描述步态之间转换关系的步态算子，为后续的运动规划和控制方法研究做好了理论铺垫。 第三，分析了微小型壁面移动机器人运动规划问题的特殊性；考虑到机器人运动时真空吸附的耗时问题和狭窄空间中步态选择的合理性，通过对局部动态窗口法进行改进，引入可达空间动态局部栅格和遍历搜索算法，提出了基于可行步态的微小型壁面移动机器人在狭窄空间中的运动规划方法；根据壁面过渡的步态分析结果，并考虑到吸盘足的真空吸附载荷和机器人的动力学特性，提出了基于步态参数规划与最小能耗轨迹优化相结合的微小型壁面移动机器人在壁面过渡时的运动规划方法。通过仿真分析和实验研究，验证了上述运动规划方法的合理性和有效性。 第四，针对欠平滑壁面上机器人吸盘足吸附失败时的自主行为控制问题，根据步态分析结果，建立了吸盘足的有限状态机模型，并按“就近”原则设定状态转移优先级，提出了基于有序试探的微小型壁面移动机器人着地点选择控制方法；针对机器人的动力学特性，特别是重力矩变化对机器人运动控制的影响，在采用模糊自适应PID控制的基础上，根据轨迹优化结果，引入前馈重力补偿环节，提出了基于重力补偿的微小型壁面移动机器人模糊自适应PID控制方法。通过仿真分析和实验研究，验证了所提方法在改善系统控制性能，提高机器人自主能力方面的可行性和有效性。 第五，在武警北京特警学院的反劫机训练场，对微小型壁面移动机器人的运动控制能力和越障能力进行了现场实验测试，验证了论文所提出运动规划和控制方法在实际应用中的有效性。

轮足复合式微小型爬壁机器人机构与控制研究

本文以反恐侦查为应用背景，以国家“863”计划支持项目 “微小型爬壁机器人系统样机的研制” （编号：2005AA420230）为依托，在两足尺蠖式微小型爬壁机器人研究的基础上，针对微小型爬壁机器人的机构与控制的难点问题，提出了新型的爬壁机器人机构并设计了机器人的硬件控制系统。本文主要包括以下五方面的研究工作：1.提出了一种新型的轮足复合式爬壁机器人机构，对机器人的机构进行了分析与综合；2.推导了机器人的运动学方程，分析了机器人的移动与越障机理，仿真分析了机器人的移动与越障性能；3.针对控制系统功能模块化的要求，设计了基于DSP与CPLD的硬件控制系统；4. CPLD的硬件逻辑功能设计，实现了控制系统软件功能的硬件化；5. 轮足复合式爬壁机器人系统样机的实验研究。 一、在腿足式和轮式爬壁机器人研究的基础上，基于行星轮系运动及双足真空吸附原理，提出了一种新型轮足复合式爬壁机器人机构；针对机器人功能要求，对机器人的机构进行了设计与分析研究，机器人的运动关节采用非对称设计，将运动与姿态调整复合，减少了运动关节数，结构紧凑。 二、基于D-H坐标变换方法对机器人的运动学特性进行了分析，在此基础上分析了机器人的移动及越障机理，即直线行走、平面旋转和交叉壁面的跨越分析；分析了外角交叉面跨越过程中机器人距离交叉面的安全距离参数范围；仿真分析比较了本文提出的新型轮足复合式爬壁机器人与两足尺蠖式爬壁机器人的运动性能和越障能力。 三、针对机器人控制系统功能的模块化难点问题，设计了基于DSP与CPLD的硬件控制系统；利用CPLD中的硬件逻辑模块可重复调用的优点，方便的实现控制系统功能的扩展，实现了控制系统硬件设计的模块化；CPLD用户自定I/O引脚的功能，有利于提高控制系统硬件设计的灵活性。 四、分析了DSP采样查询方式的系统功能扩展DSP资源占用率高的问题，将原来由软件实现的功能改为在CPLD中由硬件实现，降低了DSP的资源占有率，提高了控制系统的稳定性，实现了控制系统软件功能的硬件化。 五、以新型了轮足复合式爬壁机人样机为实验平台，验证机器人移动与越障机理的理论分析与仿真分析正确性，控制系统的稳定性，以及无线通讯和图像传输的可靠性。 关键词 爬壁机器人；行星轮系；真空吸附；嵌入式控制系统

陕北地区石家湾-李家岔探区三叠系延长组石油成藏条件分析

Shijiawan –Lijiacha area, lying on the northeastern part of the Shanbei Slope of Ordos Basin, was selected as studying area. The previous explorations proved that the 2nd segment and 6th segment of the Yanchang Formation are the most important oil-bearing formations. It is indicated that the sedimentary facies and reservoir characteristics restricted the hydrocarbon accumulation regularity. Therefore, with petrology methodologies, such as outcrop observation, core description, geophysical logging interpretation, thin section determination, scanning electron microscope, as well as rock property analysis, the reservoirs was were systematically studied and characterized. The sedimentary micro-facies, seals, reservoir-seal combines, migration pathways and entrapping modes were taken into account. The author tempted to establish a base for further studies on reservoirs and on petroleum geology, and to provide some reliably geological evidences for later prospect activities. It was found that the sediments in the 2nd and 3rd segments of the Yanchang Formation in Shijiawan –Lijiacha area were deposited in braided rivers, and most sandy-bodies were identified as channel sandbars. The 4+5th and 6th segments were principally deposited in deltaic-plain environment, consisting of corresponding sub-facies such as distributary channels, natural levee, crevasse-splay and marsh. The skeleton sandy-bodies were identified as sandy sediments of distributary channels. The sand grains in reservoir in studied area possess generally low mineralogical maturity and moderate structural maturity, and the form of pores may be classified into intergranular types and dissolved types. Most reservoirs of Yanchang Formation in Shijiawan –Lijiacha area belong to extreme low-porosity low-permeability ones (type III), and the 2nd sediments belongs to low permeability one (type II) and the 6th segment belong to super low-permeability one(type Ⅳ). The reservoirs in the 2nd segment behave more heterogeneous than those in the 6th segment. The statistic analysis results show that, for 6th and 4+5th segments, the high quality reservoir-seal combines may be found everywhere in the studied area except in the northwest and the southwest parts; and for 1st and 2nd segments, in the northeast, central and southwest parts Petroleum migration happened in the duration of the Early Cretaceous period in both lateral and vertical directions. The migration paths were mainly constructed by permeable sandy-bodies. The superimposed channel sandy-bodies consist of the principal part of the system of carriers. the vertical fractures, that may travel through the seals between reservoirs, offered the vertical paths for migrating oil. It may be synthesized that oil coming from south kitchens migrated first laterally in carriers in the 6th segment. When arrived at the studied area, oil will migration laterally or/and vertical within both the sandy-bodies and fractures, in a climbing-stair way. The results demonstrate that the oil was entrapped in traps structure-lithology and/or lithology traps. In some cases, the hydrodynamic force may help to trap oil. Accumulation of oil in the area was mainly controlled by sedimentary facies, seals, structure, and heterogeneity of reservoir in the 2nd, 4+5th and 6th segments. Especially, the oil distributions in both the 2nd and 6th segments were obviously influenced by seals in the 4+5th segment. The existence of seals in 1st segment seems important for accumulation in the 2nd segment.

胶东地区金矿床成矿时代及其成矿地球动力学背景-兼论壳幔相互作用与成岩成矿

Jiaodong Peninsula is the largest repository of gold in China. Varieties of studies have been involved in the mechanism of metallogenesis. This thesis is a part of the project "Study of basic geology related to the prespecting of the supra-large deposits" which supported by National Climbing Program of China to Prof. Zhou. One of the key scientific problems is to study the age and metallogenic dynamics of ore deposit and to understand how interaction between mantle and crust constrains on metallogenesis and lithogenesis. As Jiaodong Peninsula to be study area, the Rb-Sr, Sm-Nd and Pb isotopic systematics of pyrite and altered rocks are measured to define the age and origin of gold. The elemental and Sr-Nd-Pb isotopic compositions of dikes and granites was studied to implicate the source and lithogenesis of the dike and granite and removal of lithosphere and the interaction between mantle and crust in the Jiaodong Peninsula. Considering the tectonic of Jiaodong Peninsula, basic on the time and space, this thesis gives a metallogenic dynamics of gold mineralization and discusses the constraints of the interaction between mantle and crust on the metallogenesis and lithogenesis. This thesis reports the first direct Rb-Sr dating of pyrites and ores using sub-sampling from lode gold deposit in Linglong, Jiaodong Peninsula and the results demonstrate this as a useful geochronological technique for gold mineralization with poor age constraint. The Rb-Sr data of pyrites yields an isochron age of (121.6-122.7) Ma, whereas, those of ore and ore-pyrite spread in two ranges from 120.0 to 121.8 Ma and 110.0-111.7 Ma. Studies of characteristic of gold deposit, microscopy of pyrite and quartz indicate that the apparent ages of ore and ore-pyrite are not isochron ages, it was only mixed by two end members, i.e., the primitive hydrothermal fluids and wall rocks. However, the isochron age of pyrite samples constrains the age of gold mineralization, i.e., early Cretaceous, which is in good consistence with the published U-Pb ages of zircon by using the SHRIMP technique. The whole rock Rb-Sr isochron age of altered rocks indicates that the age of gold mineralizing in the Xincheng gold deposit is 116.6 ± 5.3 Ma. The Sr, Nd and Pb isotopic compositions of pyrite and altered rocks indicate that the gold and relevant elements were derived from multi-sources, i.e. dikes derived from enriched lithospheric mantle and granites, granodiorites and metamorphic rocks outcropped on the crust. It also shows that the hydrothermal fluids derived from mantle magma degassing had play an important role in the gold mineralizing. The major and trace elements, Sr-Nd-Pb isotopic data of granites and granodiorites suggest that the Linglong Granite and Kunyushan Granite were derived from partial melting of basement rocks in the Jiaodong Peninsula at post-collision of North China Craton with South China Craton. Guojialing Granodiorite was considered to be derived from a mixture source, that is, mixed by magmas derived from an enriched lithospheric mantle and crust during the delamination of lithosphere induced by the subduction of Izanagi Plate and the movement of Tancheng-Lujiang Fault. There are kinds of dikes occurred in the Jiaodong Peninsula, which are accompanying with gold mineralization in time and space. The dikes include gabrro, diabase, pyroxene diorite, gabrrophyre, granite-porphyry, and aplite. The whole rock K-Ar ages give two age intervals: 120-124 Ma for the dikes that erupted at the gold mineralizing stage, and <120 Ma of the dikes that intruded after gold mineralizing. According to the age and the relationship between the dikes and gold mineralizing, the dikes could be divided into two groups: Group I (t = 120-124 Ma) and Group II (t < 120Ma). Group I dikes show the high Mg and K, low Ti contents, negative Nb anomalies and positive Eu anomalies, high ~(87)Sr/~(86)Sr and negative εNd(t) values and an enrichment in light rare earth elements, large ion lithosphile elements and a depletion in high field strength elements. Thus the elemental and isotopic characteristics of the Group I dikes indicate that they were derived from an enriched lithospheric mantle perhaps formed by metasomatism of the melt derived from the recycled crustal materials during the deep subduction of continent. In contrast, the Group II dikes have high Ti, Mg and K contents, no negative Nb anomalies, high ~(87)Sr/~(86)Sr and positive or little negative εNd(t) values, which indicate the derivation from a source like OIB-source. The geochemical features also give the tectonic constraints of dikes, which show that Group I dikes were formed at continental arc setting, whereas Group II dikes were formed within plate background. Considering the tectonic setting of Jiaodong Peninsula during the period of gold mineralizing, the metallogenic dynamics was related to the subduction of Izanagi Plate, movement of Tancheng-Lujiang Fault and removal of lithopheric mantle during Late Mesozoic Era.