多旋翼空中操作机器人的一体化设计及动态运动规划

项目名称： 多旋翼空中操作机器人的一体化设计及动态运动规划

项目编号： No.51505014

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 机械、仪表工业

项目作者： 俞玉树

作者单位： 北京航空航天大学

项目金额： 20万元

中文摘要： 微小型多旋翼空中操作机器人融合了多旋翼飞行本体敏捷性高、多自由度操作机构操作灵活等优点，但此类机器人在飞行性能与操作性能需求上存在矛盾关系，目前缺乏其动态运动的规划和控制方法，制约了其性能提升。.为此，本项目拟针对多旋翼空中操作机器人的一体化设计、动态运动下的规划和控制方法开展研究。通过建立机器人的整体模型，综合分析其飞行性能和操作性能，研究多旋翼飞行本体和多自由度操作机构的一体化设计方法；探索鹰类空中动态抓捕的运动机理，研究机器人空中动态操作的运动规划优化模型及其实时求解方法；采用混杂系统的相关理论将空中操作分阶段多模式运动的模型与控制综合为一体；研制机器人典型原理样机系统，验证上述理论研究成果。.预期成果将为多旋翼空中操作机器人的研究提供理论指导，有利于充分发挥多旋翼飞行本体和多自由度操作机构的优越性，突破此类机器人在性能提升方面存在的关键问题，对推动空中操作机器人的发展具有重要意义。

中文关键词： 空中操作机器人；一体化设计；动态运动；运动规划；运动控制

英文摘要： Aerial manipulation robot has attracted high attention in recent years because it is widely considered as the next generation of aerial robot. However, design of this kind of robot is a great challenge since the requirements of flying performance and manipulation performance are contradictory. Moreover, currently there lacks research on the aggressive motion planning and control method for this kind of robot, making the advantage of the robot cannot be realized. .In this project, we aim to develop the integrated design theory and the aggressive motion planning and control method for micro multi-rotor aerial manipulation robot. First, by developing the uniform modeling method of the robot, the integrated design theory of the multi-rotor flying main body and the multi-DOF manipulation mechanism in terms of both flying performance and manipulation performance will be researched. Then, the optimal planning model and its real time solution method for aggressive aerial manipulation will be explored based on the principle analysis of the bio-inspired aggressive aerial manipulation motion. Finally, the hybrid dynamic modeling and control method for the aerial manipulation will be studied. Real time prototypes will be designed and developed based on the theoretical results. Experiments will also be put forward in order to verify the theoretical methods. .The results of the project are significant for solving the existing problems in the current research of multi-rotor aerial manipulation robot. The project is also beneficial to enriching the research theories of aerial robots and promoting the application of aerial manipulation robot.

英文关键词： Aerial Manipulation Robot;Integrated Design;Aggressive Motion;Motion Planning;Motion Control