本文選題：雙足機(jī)器人　切入點(diǎn)：步態(tài)規(guī)劃　出處：《昆明理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：雙足機(jī)器人是機(jī)器人領(lǐng)域的一個研究熱點(diǎn)和重要的研究方向,它相對于其他移動機(jī)器人具有人類步行的特征和更高的靈活性。其中最佳步行策略已成為研究的熱點(diǎn),步態(tài)規(guī)劃是實(shí)現(xiàn)穩(wěn)定步行策略的基礎(chǔ)和關(guān)鍵。本文基于倒立擺模型進(jìn)行了步態(tài)規(guī)劃并且以設(shè)計的穩(wěn)定性函數(shù)和能耗性函數(shù)為衡量標(biāo)準(zhǔn)以步行一定范圍速度和摩擦系數(shù)為變量尋找此范圍內(nèi)的最佳步行策略。本文以實(shí)驗(yàn)室物理樣機(jī)為原型建立雙足機(jī)器人的運(yùn)動學(xué)模型,根據(jù)雙足機(jī)器人自身特點(diǎn)將雙足機(jī)器人簡化為一級倒立擺模型進(jìn)行步態(tài)規(guī)劃。并通過逆向運(yùn)動學(xué)的相關(guān)理論計算出機(jī)器人各個關(guān)節(jié)的運(yùn)動軌跡。設(shè)計了虛擬樣機(jī)中評價穩(wěn)定性和能耗性的可行評價函數(shù)。為仿真模型在不同工況下的步行策略的穩(wěn)定性能和能耗性的比較提供了理論依據(jù)。在ADAMS運(yùn)動學(xué)仿真的情況下根據(jù)設(shè)計的評判穩(wěn)定性能指標(biāo)的公式計算不同步行速度及機(jī)器人與地面不同摩擦系數(shù)下的穩(wěn)定性能參數(shù),并采用單因素分析法步行速度、與地面摩擦系數(shù)因素對步行穩(wěn)定性影響規(guī)律。得出結(jié)論:不同速度都有保持機(jī)器人穩(wěn)定性需要的最低摩擦系數(shù),低于摩擦系數(shù)最低要求,機(jī)器人穩(wěn)定性降低速率加快,相同摩擦系數(shù)即使在滿足穩(wěn)定行走最低要求情況下,當(dāng)機(jī)器人高于某個速度,穩(wěn)定性能也會加速下降,得出本文研究機(jī)器人在一定步行速度范圍及與地面擦系數(shù)范圍最佳行走速度200mm/s需要的摩擦系數(shù)0.6及以上。并設(shè)計穩(wěn)定性實(shí)驗(yàn)驗(yàn)證了設(shè)計函數(shù)的合理性及仿真結(jié)果的有效性�；贏DAMS與MATLAB聯(lián)合仿真下得到機(jī)器人在步行過程中各個關(guān)節(jié)的力矩變化曲線與關(guān)節(jié)角速度等后處理結(jié)果,并且基于不同工況下對后處理結(jié)果提取出的各部位關(guān)節(jié)力矩與關(guān)節(jié)角速度進(jìn)行擬合,根據(jù)設(shè)計的能耗函數(shù)計算出不同速度與摩擦系數(shù)下的能耗。采用單因素法,分析不同步行速度、與地面不同摩擦系數(shù)等因素對雙足機(jī)器人步行能耗的影響。同時結(jié)合前邊穩(wěn)定性分析得出,機(jī)器人相同速度下,當(dāng)沒有達(dá)到穩(wěn)定需要的最低摩擦系數(shù)情況下,摩擦系數(shù)降低能耗增加,當(dāng)達(dá)到一定摩擦系數(shù)以上,不同摩擦系數(shù)基本保持一致,當(dāng)達(dá)到穩(wěn)定性需要的最低標(biāo)準(zhǔn),速度超過某一速度能耗增加速率變快。同時根據(jù)本文研究的步行速度(50mm/s-250mm/s)和與地面摩擦系數(shù)(0.3-0.7)范圍內(nèi),得出步行速度200 mm/s時摩擦系數(shù)0.6以上,是在機(jī)器人保持能耗增速變化不大情況下所能達(dá)到最高速度,所以本機(jī)器人從工作的高效性考慮,結(jié)合前邊的穩(wěn)定性總結(jié)出本機(jī)器人保持一定穩(wěn)定性前提盡力提高工作效率下所能達(dá)到最佳的步行工作速度為200mm/s。并設(shè)計能耗性實(shí)驗(yàn)驗(yàn)證了設(shè)計函數(shù)的合理性及仿真結(jié)果的有效性。
[Abstract]:Biped robot is a hotspot and an important research direction in the field of robot. Compared with other mobile robots, biped robot has the characteristics of human walking and higher flexibility, among which the best walking strategy has become a hot topic. Gait planning is the foundation and key to realize the stable walking strategy. This paper presents gait planning based on inverted pendulum model and takes the designed stability function and energy consumption function as the criterion to measure the walking speed and friction in a certain range. The coefficient is variable to find the best walking strategy in this range. In this paper, the kinematics model of biped robot is established based on the prototype of laboratory physics. According to the characteristics of biped robot, the biped robot is simplified into a single inverted pendulum model for gait planning, and the trajectory of each joint of the robot is calculated by the theory of inverse kinematics. A virtual prototype is designed. It provides a theoretical basis for the comparison of the stability and energy consumption of the simulation model under different operating conditions. Based on the results of ADAMS kinematics simulation, The formulas for evaluating the stability performance index are used to calculate the stability performance parameters under different walking speeds and different friction coefficients between the robot and the ground. The single factor analysis method is used to analyze the walking speed, and the friction coefficient between the ground and the ground affects the walking stability. It is concluded that all the different speeds have the lowest friction coefficient needed to maintain the stability of the robot, which is lower than the minimum requirement of the friction coefficient. The stability reduction rate of the robot is accelerated. Even if the same friction coefficient meets the minimum requirement of stable walking, the stability performance of the robot will decrease more quickly when the robot is higher than a certain speed. In this paper, the friction coefficient of the robot in a certain walking speed range and the optimum walking speed of 200mm / s with the ground erasure coefficient is obtained. The design stability experiment verifies the rationality of the design function and the simulation results. Based on the joint simulation of ADAMS and MATLAB, the post-processing results such as torque variation curve and joint angular velocity of each joint in the walking process of the robot are obtained. Based on different working conditions, the joint torque and joint angular velocity extracted from the post-processing results are fitted, and the energy consumption under different velocity and friction coefficient is calculated according to the designed energy consumption function. The single factor method is used. The effects of different walking speed and friction coefficient on walking energy consumption of biped robot are analyzed. When the minimum friction coefficient of stability is not reached, the friction coefficient decreases and the energy consumption increases. When the friction coefficient is above a certain coefficient, the different friction coefficients are basically the same, and when the minimum standard of stability is reached, According to the walking speed of 50 mm / s -250 mm / s and the friction coefficient of 0.3-0.7), the friction coefficient of the walking speed of 200 mm/s is more than 0.6. The robot is able to achieve the highest speed in the case of little change in the rate of increase in energy consumption, so the robot takes into account the efficiency of its work. Combined with the stability of the front, it is concluded that the optimal walking speed of the robot is 200 mm / s under the condition of keeping a certain stability and trying to improve the working efficiency. The design of energy consumption experiment verifies the rationality of the design function and the validity of the simulation results.
【學(xué)位授予單位】：昆明理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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本文編號：1570984