【摘要】：四足機(jī)器人運(yùn)動(dòng)靈活,地形環(huán)境適應(yīng)性強(qiáng),在探險(xiǎn)、探測(cè)、搶險(xiǎn)救災(zāi),軍事戰(zhàn)爭(zhēng)等領(lǐng)域潛力巨大。行走時(shí)機(jī)器人足端不斷沖擊地面,極易損壞機(jī)器人本體及其控制系統(tǒng),因此,緩沖裝置的設(shè)計(jì)十分關(guān)鍵。針對(duì)隔離著地沖擊的需要,研究針對(duì)現(xiàn)有的機(jī)器人僅在腿部加裝彈簧緩沖方式,按照從驅(qū)動(dòng)油缸到單腿機(jī)構(gòu)再到機(jī)器人整體的研究順序,提出了緩沖方案,并進(jìn)行了緩沖性能仿真及試驗(yàn)研究。論文主要研究?jī)?nèi)容如下:(1)基于仿生四足動(dòng)物關(guān)節(jié)緩沖機(jī)制,設(shè)計(jì)了一種在機(jī)器人腿部各個(gè)關(guān)節(jié)處施加緩沖裝置的方案,保護(hù)了機(jī)器人機(jī)械系統(tǒng)、控制系統(tǒng)和液壓系統(tǒng),實(shí)現(xiàn)了四足機(jī)器人行進(jìn)速度和穩(wěn)定性的提高。(2)建立四足機(jī)器人驅(qū)動(dòng)油缸仿真模型,對(duì)靜止和工作兩種工況下進(jìn)行了重物自由落體沖擊仿真分析,證明驅(qū)動(dòng)油缸集成微型蓄能器的被動(dòng)緩沖方案具有良好的緩沖效果,無(wú)桿腔內(nèi)沖擊壓力峰值僅為原方案的25%左右,并設(shè)計(jì)沖擊試驗(yàn)平臺(tái)對(duì)無(wú)桿腔壓力進(jìn)行對(duì)比分析,驗(yàn)證了驅(qū)動(dòng)油缸沖擊仿真模型結(jié)果的正確性。(3)建立了四足機(jī)器人單腿機(jī)構(gòu)仿真模型,仿真分析了單腿機(jī)構(gòu)自由落體沖擊和原地起跳沖擊下機(jī)構(gòu)的力學(xué)特性,得出在驅(qū)動(dòng)油缸上串聯(lián)彈簧的緩沖方案對(duì)單腿機(jī)構(gòu)具有較好的緩沖效果。(4)建立了四足機(jī)器人整體機(jī)構(gòu)仿真模型,基于四足機(jī)器人對(duì)角小跑(trot)步態(tài)規(guī)劃其足端軌跡,通過(guò)運(yùn)動(dòng)學(xué)逆解運(yùn)算求得各關(guān)節(jié)處驅(qū)動(dòng)油缸的活塞運(yùn)動(dòng)軌跡。仿真分析了驅(qū)動(dòng)油缸未串聯(lián)彈簧時(shí)的行走沖擊和串聯(lián)彈簧后的行走沖擊特性,通過(guò)對(duì)比加速度與關(guān)節(jié)力曲線,證明驅(qū)動(dòng)油缸串聯(lián)彈簧的方案有效可行。通過(guò)對(duì)仿生液壓驅(qū)動(dòng)油缸、單腿機(jī)構(gòu)和機(jī)器人整機(jī)進(jìn)行緩沖仿真研究和試驗(yàn)分析,獲得了四足機(jī)器人行走沖擊力特性曲線,對(duì)四足機(jī)器人的緩沖機(jī)構(gòu)的研究開發(fā)提供了依據(jù)。本課題受到國(guó)家863計(jì)劃項(xiàng)目"面向野外環(huán)境的四足仿生機(jī)器人實(shí)用技術(shù)研發(fā)(2015AA042201)"的資助。
[Abstract]:Quadruped robot has great potential in exploration, detection, rescue and disaster relief, military war and so on. It is easy to damage the robot body and its control system because of the impact of the robot foot on the ground. Therefore, the design of the buffer device is very important. Aiming at the need of isolating landing impact, the paper puts forward a buffer scheme according to the research order from driving oil cylinder to single leg mechanism and then to the whole robot, aiming at the existing robot with only adding spring buffer in the leg, and then according to the research order of driving oil cylinder, single leg mechanism and robot as a whole. The buffer performance is simulated and tested. The main contents of this paper are as follows: (1) based on the joint buffer mechanism of bionic quadruped animal, a scheme of applying buffer device to each joint of the robot leg is designed to protect the robot mechanical system, control system and hydraulic system. The speed and stability of quadruped robot are improved. (2) the simulation model of four-legged robot driving cylinder is established. It is proved that the passive buffer scheme of driving cylinder integrated micro accumulator has good buffer effect, the peak value of impact pressure in rodless cavity is only about 25% of the original scheme, and the impact test platform is designed to compare and analyze the rodless cavity pressure. The correctness of the model is verified. (3) the one-legged mechanism simulation model of quadruped robot is established, and the mechanical characteristics of single-legged mechanism under free-fall impact and in-situ take-off impact are simulated and analyzed. It is concluded that the buffer scheme of series spring on the drive cylinder has a better buffer effect on the single-legged mechanism. (4) the simulation model of the four-legged robot is established, and the foot trajectory is planned based on the diagonal trot (trot) gait of the quadruped robot. The kinematic inverse solution is used to obtain the piston motion trajectory of the cylinder driven at each joint. The walking impact of the cylinder without the series spring and the walking impact characteristics after the series spring are simulated and analyzed. By comparing the acceleration curve with the joint force curve, it is proved that the scheme of driving the oil cylinder series spring is effective and feasible. Through the simulation and experimental analysis of the hydraulic cylinder, single-legged mechanism and the whole robot, the characteristic curve of the walking impact force of the four-legged robot is obtained, which provides the basis for the research and development of the four-legged robot's buffer mechanism. The project is supported by the National 863 Program, "practical technology development of quadruped bionic robot for field environment (2015AA042201)".
【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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