本文選題：仿人機(jī)器人 + 步態(tài)規(guī)劃　； 參考：《青島科技大學(xué)》2017年碩士論文

【摘要】：仿人機(jī)器人是一種依據(jù)人類外形結(jié)構(gòu)設(shè)計(jì)的機(jī)器,是集計(jì)算機(jī)技術(shù)、微電子技術(shù)、機(jī)械設(shè)計(jì)技術(shù)、傳感及控制技術(shù)于一身的機(jī)電一體化產(chǎn)品,它主要由主體結(jié)構(gòu)、動力部分、傳感部分、驅(qū)動部分、執(zhí)行部分、控制及信息部分組成。本課題完成了一個(gè)仿人機(jī)器人各個(gè)組成部分的設(shè)計(jì),并對其進(jìn)行了步態(tài)規(guī)劃和力學(xué)分析的研究。具體研究工作主要包括以下幾個(gè)方面:首先,通過研究人體的相關(guān)結(jié)構(gòu)尺寸和各關(guān)節(jié)運(yùn)動特征,選取仿人機(jī)器人的機(jī)構(gòu)形式,確定機(jī)器人的自由度配置、機(jī)械結(jié)構(gòu)和尺寸;對所設(shè)計(jì)的仿人機(jī)器人進(jìn)行了運(yùn)動學(xué)建模和分析,采用廣義坐標(biāo)法,在其前向和側(cè)向分別建立了運(yùn)動學(xué)模型,并進(jìn)行正逆運(yùn)動學(xué)求解。其次,以ZMP(零力矩點(diǎn))作為穩(wěn)定判據(jù),對機(jī)器人行走時(shí)應(yīng)滿足的約束條件進(jìn)行了分析,并采用基于三次樣條函數(shù)的三點(diǎn)式規(guī)劃法進(jìn)行步態(tài)規(guī)劃,將步態(tài)數(shù)據(jù)導(dǎo)入ADAMS中進(jìn)行仿真,仿真結(jié)果證明了本文所采用的規(guī)劃方法可以實(shí)現(xiàn)仿人機(jī)器人的穩(wěn)定動態(tài)步行。之后,根據(jù)虛擬樣機(jī)仿真結(jié)果,可以獲得大腿、小腿、大臂的約束條件和踝關(guān)節(jié)U型部件的受力狀況,通過對大腿、小腿和大臂進(jìn)行模態(tài)分析,以及對踝關(guān)節(jié)U型部件進(jìn)行應(yīng)力分析提出了結(jié)構(gòu)的合理改進(jìn)方案。最后,設(shè)計(jì)了機(jī)器人的控制系統(tǒng)。為增強(qiáng)仿人機(jī)器人的可擴(kuò)展性,控制系統(tǒng)采用了功能強(qiáng)大的Cortex-M4核心,依次完成機(jī)器人動力部分、傳感部分、驅(qū)動部分、執(zhí)行部分、控制及信息部分以及上位機(jī)軟件的設(shè)計(jì),再將各基本功能模塊整合為一體化的仿人機(jī)器人;同時(shí)通過上位機(jī)軟件,能輕松實(shí)現(xiàn)機(jī)器人動作編程。
[Abstract]:Humanoid robot is a kind of machine designed according to human shape structure. It is a mechanical and electrical integration product with computer technology, microelectronic technology, mechanical design technology, sensing and control technology. It mainly consists of the main body structure, the dynamic part, the sensing part, the driving part, the actuation part, the control and the information part. The design of each component of a humanoid robot is designed, and its gait planning and mechanical analysis are studied. The main research work includes the following aspects: first, by studying the relative structure size and the motion characteristics of the joints, the mechanism of the humanoid robot is selected to determine the freedom degree configuration of the robot. The kinematic modeling and analysis of the designed humanoid robot are carried out, and the kinematic model of the forward and lateral kinematics is established by using the generalized coordinate method, and the inverse kinematics is solved. Secondly, the ZMP (zero moment point) is used as the stability criterion to analyze the constraints that the robot should meet when walking. The gait planning is carried out by the three point programming method based on the three spline function. The gait data is introduced into the ADAMS for simulation. The simulation results show that the planning method used in this paper can realize the stable and dynamic walking of the humanoid robot. After the simulation results of the virtual prototype, the constraints of the thighs, the legs and the large arms can be obtained. And the stress status of the U type parts of the ankle joint, through the modal analysis of the thigh, the leg and the big arm, and the stress analysis of the U type parts of the ankle joint, the rational improvement scheme of the structure is put forward. Finally, the control system of the robot is designed. In order to enhance the extensible ability of the humanoid robot, the control system uses a powerful Cortex-M4. At the core, the dynamic part of the robot, the sensing part, the driving part, the actuation part, the control and information part and the upper computer software are designed, and the basic functional modules are integrated into the integrated humanoid robot, and the robot action programming can be easily realized through the upper computer software.
【學(xué)位授予單位】：青島科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前5條

1 白麗平;;基于ADAMS的機(jī)器人動力學(xué)仿真分析[J];機(jī)電工程;2007年07期

2 馬培蓀;曹曦;趙群飛;;兩足機(jī)器人步態(tài)綜合研究進(jìn)展[J];西南交通大學(xué)學(xué)報(bào);2006年04期

3 謝濤,徐建峰,張永學(xué),強(qiáng)文義;仿人機(jī)器人的研究歷史、現(xiàn)狀及展望[J];機(jī)器人;2002年04期

4 張偉,杜繼宏;雙足步行機(jī)器人的步態(tài)規(guī)劃[J];計(jì)算機(jī)工程與應(yīng)用;2002年13期

5 胡洪志,馬宏緒;一種雙足步行機(jī)器人的步態(tài)規(guī)劃方法[J];機(jī)器人技術(shù)與應(yīng)用;2002年03期

相關(guān)博士學(xué)位論文 前3條

1 俞志偉;雙足機(jī)器人擬人步態(tài)規(guī)劃與穩(wěn)定性研究[D];哈爾濱工程大學(xué);2008年

2 魏航信;仿人跑步機(jī)器人快速跑步研究[D];西安電子科技大學(xué);2006年

3 柯顯信;仿人形機(jī)器人雙足動態(tài)步行研究[D];上海大學(xué);2005年

相關(guān)碩士學(xué)位論文 前10條

1 李萍;仿人機(jī)器人步態(tài)規(guī)劃及仿真的研究[D];青島科技大學(xué);2014年

2 盧嘉敏;雙足機(jī)器人的步態(tài)規(guī)劃和步行控制研究[D];廣東工業(yè)大學(xué);2013年

3 陳v，

本文編號：2039147