本文選題：袋鼠　切入點：跳躍機器人　出處：《南京理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：跳躍機器人是一種具有運動速度快、運動能耗低、環(huán)境適應(yīng)性強、越障能力強等多項優(yōu)點的特殊機器人。因此,跳躍機器人在軍事偵察、搜救活動、星際探索等諸多領(lǐng)域具有廣泛的應(yīng)用前景。本文通過對仿生機器人及跳躍機器人發(fā)展現(xiàn)狀進(jìn)行比較分析,結(jié)合袋鼠生命體的運動原理,設(shè)計了一款仿袋鼠式跳躍機器人,并從其整體結(jié)構(gòu)及其控制模塊兩個方面進(jìn)行設(shè)計,著重對其伺服電機控制系統(tǒng)進(jìn)行研究。針對跳躍機器人整體結(jié)構(gòu)設(shè)計,首先,對袋鼠生物系統(tǒng)的運動原理及運動機構(gòu)進(jìn)行解析;然后,依據(jù)袋鼠生物特性,對跳躍機器人機身的功能要求和技術(shù)指標(biāo)進(jìn)行分析;最后,結(jié)合機械原理及生物學(xué)等相關(guān)知識,對機身整體結(jié)構(gòu)進(jìn)行總體設(shè)計。針對跳躍機器人控制模塊設(shè)計,首先,從姿態(tài)檢測出發(fā),依據(jù)動力學(xué)仿真結(jié)果,對跳躍機器人各部件姿態(tài)數(shù)據(jù)進(jìn)行分析,并根據(jù)各部件姿態(tài)變化特性,選擇姿態(tài)檢測方式;然后,采用高度檢測、角度檢測等方式,對其各部件進(jìn)行姿態(tài)檢測,依據(jù)理論數(shù)據(jù),對其姿態(tài)檢測方式的可行性進(jìn)行分析;接著,基于姿態(tài)檢測分析結(jié)果,結(jié)合動力學(xué)仿真數(shù)據(jù),分析姿態(tài)控制目標(biāo),設(shè)計姿態(tài)控制實現(xiàn)方式;最后,依據(jù)姿態(tài)控制理論分析數(shù)據(jù),證明其可行性。另外,在各章結(jié)尾設(shè)計了姿態(tài)檢測及姿態(tài)控制的軟硬件方案。論文還針對跳躍姿態(tài)檢測及控制完成了部分實驗,包括對單次跳躍姿態(tài)檢測及控制中的角度檢測和高度檢測兩方面進(jìn)行實物測實驗證、對連續(xù)跳躍姿態(tài)控制系統(tǒng)進(jìn)行軟件仿真及實物運行驗證、針對未來應(yīng)用需求設(shè)計的目標(biāo)識別驗證實驗。該研究對跳躍機器人測控系統(tǒng)設(shè)計具有一定的參考價值。
[Abstract]:Jumping robot is a kind of fast motion, low energy consumption, environmental adaptability, special robot ability and other advantages. Therefore, jumping robot in military reconnaissance, search and rescue activities, and has wide application prospect in many fields such as space exploration. Through a comparative analysis of the current situation of the development of bionic robot robot and jump. The movement principle with the life of the kangaroo, designed a kangaroo hopping robot, and carries on the design from the two aspects of the overall structure and control module, this paper focuses on the study on the servo motor control system. The hopping robot overall structure design, firstly, motion principle and motion mechanism of kangaroo biological systems analysis; then, based on the biological characteristics of kangaroo, functional and technical requirements of jumping robot fuselage were analyzed; finally, combined with the mechanical principle and Related knowledge learning, the overall design of the overall structure of the fuselage. The control module is designed for jumping robot first, starting from the attitude detection, according to the simulation results, the jumping robot components of attitude data are analyzed, and according to the attitude change characteristic of the parts, then choose attitude detection method; using height detection, angle detection so, for attitude detection of components, based on the theory of data, analyses the feasibility of the attitude detection method; then, based on the analysis results of attitude detection, combined with dynamic simulation data analysis, attitude control, attitude control design and implementation; finally, based on the theory of data analysis of attitude control, proves its feasibility. In addition, at the end of each chapter designed the posture detection and attitude control of hardware and software solutions. The part of the experiment the attitude measurement and control of jump, Including the single jump two posture detection and control of angle detection and height detection physical test shows, the software simulation and verification of the physical operation of continuous jump attitude control system, target identification and verification experiments for future application needs design. This study has a certain reference value for the design of measurement and control system. The robot jump

【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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