本文選題：仿人服務(wù)機(jī)器人 + 結(jié)構(gòu)設(shè)計(jì)��； 參考：《廣東工業(yè)大學(xué)》2017年碩士論文

【摘要】：仿人服務(wù)機(jī)器人是指其外表與人類相似,并可以進(jìn)行簡單的人類行為的機(jī)器人。在國內(nèi)外機(jī)器人大潮里,仿人服務(wù)機(jī)器人作為服務(wù)機(jī)器人的一種,具有較大的研究與應(yīng)用價(jià)值。與傳統(tǒng)的工業(yè)機(jī)器人相比,其具有提高生活質(zhì)量,減少服務(wù)類工作崗位和能與人進(jìn)行溝通等優(yōu)點(diǎn)。因此仿人服務(wù)機(jī)器人有望在實(shí)際生活中得到大量應(yīng)用,從而服務(wù)于人類與社會。但就國內(nèi)外的研究現(xiàn)狀而言,關(guān)于仿人服務(wù)機(jī)器人的研究缺乏成本的控制,往往導(dǎo)致成本過高,以及所設(shè)計(jì)的機(jī)器人仿真度不高,完整的仿人服務(wù)機(jī)器人設(shè)計(jì)與控制相對較少。因此,本文針對以上國內(nèi)外的研究不足之處,研發(fā)了一款具有極具有性價(jià)比的高仿真度仿人服務(wù)機(jī)器人,所設(shè)計(jì)的軟硬件系統(tǒng)滿足基本滿足完成簡單的人類行為。本文根據(jù)人體骨骼構(gòu)造形式,對仿人服務(wù)機(jī)器人進(jìn)行了機(jī)械結(jié)構(gòu)的設(shè)計(jì),然后對機(jī)械手臂進(jìn)行運(yùn)動學(xué)的分析,并對軟硬件系統(tǒng)進(jìn)行設(shè)計(jì)與搭建,最后對整個樣機(jī)進(jìn)行調(diào)試控制。主要內(nèi)容包括:(1)分析著名的恐怖谷理論以及人體骨骼構(gòu)造形式,對仿人服務(wù)機(jī)器人的機(jī)械本體進(jìn)行設(shè)計(jì)。本體設(shè)計(jì)中主要包括三大部分:頭部、雙手臂、軀干。仿人服務(wù)機(jī)器人的頭部具有五自由度,分別可以實(shí)現(xiàn)眨眼、轉(zhuǎn)眼珠、嘴巴開合、轉(zhuǎn)頭、頭部俯仰。仿人服務(wù)機(jī)器人的單只手臂具有六自由度,可以基本實(shí)現(xiàn)人類絕大部分的手臂肢體語言。軀干部分包括彎腰自由度和穩(wěn)固的底座。(2)根據(jù)前面設(shè)計(jì)的機(jī)械手臂進(jìn)行運(yùn)動學(xué)分析。機(jī)器人手臂是通過串聯(lián)而成的六軸機(jī)械臂,具有一般的工業(yè)機(jī)械臂特性。根據(jù)機(jī)械臂的設(shè)計(jì),建立了D-H參數(shù),然后推導(dǎo)了機(jī)械臂的正運(yùn)動學(xué),最后基于蒙特卡洛算法求出機(jī)械手臂的工作空間。(3)根據(jù)Modbus通信協(xié)議,設(shè)計(jì)了機(jī)器人軟硬件平臺。軟件主要分為兩部分:上位機(jī)與下位機(jī)STM32控制程序。上位機(jī)可以通過向下位機(jī)發(fā)送命令指令從而控制仿人服務(wù)機(jī)器人完成相應(yīng)的控制。硬件主要是搭建了整個系統(tǒng)的硬件系統(tǒng)。(4)根據(jù)整個仿人服務(wù)機(jī)器人系統(tǒng),進(jìn)行了初步的調(diào)試。通過調(diào)試,可以看到該機(jī)器人可以基本完成相應(yīng)的功能。從而證明了機(jī)器人的本體與軟硬件系統(tǒng)的可行性。
[Abstract]:Humanoid service robot is a robot whose appearance is similar to that of human and can perform simple human behavior. As a kind of service robot, humanoid service robot has great research and application value in the tide of robot at home and abroad. Compared with the traditional industrial robots, it has the advantages of improving the quality of life, reducing the number of service jobs and communicating with people. Therefore, humanoid service robot is expected to be widely used in real life and serve human and society. However, the research on humanoid service robot is lack of cost control, which often leads to the high cost, the imitating degree of the designed robot is not high, and the complete humanoid service robot design and control is relatively less. Therefore, aiming at the deficiency of the research at home and abroad, this paper develops a kind of high performance and cost effective humanoid service robot. The software and hardware system is designed to meet the basic requirements of simple human behavior. In this paper, the mechanical structure of humanoid service robot is designed according to the structure of human skeleton, then the kinematics of the robot arm is analyzed, and the hardware and software system is designed and built. Finally, the whole prototype is debugged and controlled. The main contents are as follows: (1) analyzing the famous theory of Horror Valley and the form of human skeleton, the mechanical body of humanoid service robot is designed. The main body design includes three parts: head, double arms and torso. The head of humanoid service robot has five degrees of freedom. It can blink, turn eyes, open mouth, turn head and pitch head. The single arm of humanoid service robot has six degrees of freedom, which can basically realize the majority of human arm body language. The torso consists of a bending degree of freedom and a solid base. (2) Kinematic analysis is carried out according to the mechanical arm designed in front. Robot arm is a six-axis manipulator which is composed of series. It has general characteristics of industrial manipulator. According to the design of the manipulator, the D-H parameters are established, and then the forward kinematics of the manipulator is deduced. Finally, the workspace of the manipulator is calculated based on Monte Carlo algorithm. (3) according to Modbus communication protocol, the robot hardware and software platform is designed. The software is mainly divided into two parts: upper computer and lower computer STM 32 control program. The upper computer can control the humanoid service robot by sending command instructions to the down bit machine. The hardware is mainly built up the hardware system of the whole system. (4) according to the whole humanoid service robot system, the preliminary debugging is carried out. Through debugging, we can see that the robot can basically complete the corresponding functions. Thus, the feasibility of the robot body and software and hardware system is proved.
【學(xué)位授予單位】：廣東工業(yè)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：2064660