【摘要】：近年來腿式機器人的研究迅速增多,很多靈活性好、適應能力強的機器人不斷滲透到人類生活的方方面面,隨著機器人應用范圍的不斷擴大,人們對機器人的性能提出了更加復雜的要求,這其中包括提高機器人的負載能力,拓展機器人對極端地形的適應能力等等。本文基于一種具有串并聯(lián)混合機械腿的機器人模型,重點研究行走機構單腿運動特性和裝配后的位姿運動特性、行走機構在保證一定穩(wěn)定性前提下的地形適應能力、行走機構在合理的負載分配方法下的動力需求等。本文參照國內外六足機器人的結構和性能特點,給出了自己的機器人行走機構模型。選擇單腿拓補結構為平面縮放機構形式,分析其正逆運動學和工作空間。在整機運動學方面推導機器人位姿與機器人支撐腿關節(jié)運動之間的換算方程式,給出關節(jié)之間的運動協(xié)調關系。對典型步態(tài)進行分析,利用穩(wěn)定裕度的概念分別討論不同步態(tài)下的穩(wěn)定性指標,就機器人重心高度、水平液壓缸行程中心偏置以及行走方向與地面最大坡度方向的偏航角對機器人行走穩(wěn)定性的影響進行分析。在數(shù)學上證明重心越低越穩(wěn)定的仿生學原理,并繪制另外兩個參數(shù)的最優(yōu)組合曲線,提出一種基于穩(wěn)定性的行走規(guī)劃辦法,對模型在不同坡度不同目標方向下的行走路徑進行規(guī)劃,得出可行走的坡度范圍。討論力控下的使水平無相互作用內力的足端力分配原理和計算公式,以及無力控時機器人在自身剛度作用下的被動足端力分配公式。利用拉格朗日方法推導擺動腿的驅動力方程,確定擺動腿與軀干之間的力相互作用,結合分配好的足端力和計算出的擺動腿反作用力,求出支撐腿關節(jié)驅動力范圍并設計垂向關節(jié)液壓系統(tǒng)。
[Abstract]:In recent years, the research of legged robot has been increasing rapidly. Many robots with good flexibility and strong adaptability have penetrated into every aspect of human life. People have put forward more complex requirements for the performance of robots, which include improving the load capacity of robots, expanding the adaptability of robots to extreme terrain, and so on. Based on a robot model with series-parallel hybrid mechanical leg, this paper focuses on the kinematic characteristics of walking mechanism with single leg and position and pose after assembly, and the terrain adaptability of walking mechanism under the premise of certain stability. The power requirement of the walking mechanism under the reasonable load distribution method. According to the structure and performance characteristics of hexapod robot at home and abroad, this paper presents its own walking mechanism model. The single leg extension structure is selected as the plane scaling mechanism, and its forward and inverse kinematics and workspace are analyzed. In the aspect of kinematics of the whole machine, the conversion equation between the robot posture and the motion of the robot supporting leg joint is deduced, and the kinematic coordination relationship between the joints is given. Based on the analysis of typical gait, the stability index under different gait is discussed by using the concept of stability margin, and the height of center of gravity of robot is discussed. The influence of the offset of the stroke center of the horizontal hydraulic cylinder and the yaw angle between the walking direction and the maximum slope direction of the ground on the walking stability of the robot is analyzed. The bionic principle that the center of gravity is lower and more stable is proved in mathematics, and the optimal combination curve of the other two parameters is drawn, and a stably based walking planning method is proposed. The walking path of the model under different slope and target direction is planned, and the range of walkable slope is obtained. This paper discusses the principle and calculation formula of the foot force distribution under the force control, and the passive foot force distribution formula of the robot under the action of its own stiffness when it is unable to control. Using the Lagrange method to deduce the driving force equation of the swing leg, the interaction between the swing leg and the torso is determined, combined with the distributed foot force and the calculated reaction force of the swing leg. The driving force range of supporting leg joint is obtained and the hydraulic system of vertical joint is designed.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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本文編號：2204967