本文選題：四足機(jī)器人　切入點(diǎn)：軌跡　出處：《計(jì)算機(jī)工程》2017年04期

【摘要】：仿生四足機(jī)器人腿部結(jié)構(gòu)設(shè)計(jì)與生物腿部實(shí)際結(jié)構(gòu)存在差異,足端與地面的剛性接觸力對(duì)于控制其運(yùn)動(dòng)平穩(wěn)和收斂會(huì)產(chǎn)生不利影響。為解決上述問題,分析德國牧羊犬骨骼結(jié)構(gòu),通過圖像處理和分析手段獲取牧羊犬對(duì)角小跑步態(tài)運(yùn)動(dòng)中四肢各關(guān)節(jié)的運(yùn)動(dòng)規(guī)律,設(shè)計(jì)一款四足機(jī)器人。該機(jī)器人足端具有轉(zhuǎn)化足端與地面剛性接觸為柔性接觸的機(jī)構(gòu)。根據(jù)正運(yùn)動(dòng)學(xué)和逆運(yùn)動(dòng)學(xué)理論分析模型足端工作空間。將仿真獲得的受力曲線與實(shí)際受力曲線進(jìn)行對(duì)比,結(jié)果表明,運(yùn)動(dòng)控制函數(shù)和柔性機(jī)構(gòu)更有助于四足機(jī)器人的運(yùn)動(dòng)平穩(wěn)。
[Abstract]:The leg structure design of bionic quadruped robot is different from the actual structure of biological leg, and the rigid contact force between foot and ground will have a negative effect on controlling its motion stability and convergence. The skeletal structure of German Shepherd was analyzed and the motion rules of the joints of the limbs in the diagonal trot gait were obtained by image processing and analysis. A four-legged robot is designed. The foot of the robot has a flexible contact mechanism that converts the foot end into a rigid contact between the foot and the ground. According to the forward kinematics and inverse kinematics theory, the workspace of the foot end is analyzed. The curve is compared with the actual force curve. The results show that the motion control function and the flexible mechanism are more conducive to the smooth motion of the quadruped robot.
【作者單位】： 東北林業(yè)大學(xué)機(jī)電工程學(xué)院;
【基金】：中央高校基本科研業(yè)務(wù)費(fèi)專項(xiàng)資金項(xiàng)目(DL09CA03) 黑龍江省自然科學(xué)基金(C201030)
【分類號(hào)】：TP242

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本文編號(hào)：1657773