【摘要】：隨著科學(xué)技術(shù)的進步和社會的發(fā)展需要,機器人產(chǎn)業(yè)得到了迅猛的發(fā)展,機器人技術(shù)也在工業(yè)生產(chǎn)以及社會生活中得以廣泛應(yīng)用。而足式機器人特別是四足機器人已經(jīng)成為國內(nèi)外科學(xué)家研究的熱點。本次設(shè)計參考了許多不同的設(shè)計方案,結(jié)合現(xiàn)有實驗室的試驗條件后,從兩種各具優(yōu)缺點四足機器人機構(gòu)設(shè)計方案中確定了一種具備12自由度的結(jié)構(gòu)模型。第二步對四足機器人KXRR進行了穩(wěn)定性分析、運動學(xué)分析包含了建立四足機器人KXRR足部末端在空間坐標系中的方程式,完成了運動學(xué)的正解和逆解,第三步利用三次多項式法進行插值點選取和確定,從而進行了軌跡的優(yōu)化設(shè)計,最終完成軌跡規(guī)劃工作和步態(tài)分析工作。接下來使用新穎的SolidWorks2013軟件進行了機器人三維模型的建立,然后對四足機器人KXRR在運動的過程用ADAMS2012進行了仿真,通過仿真得到關(guān)于四足機器人KXRR運動學(xué)數(shù)據(jù)諸如速度、加速度、位移進行了運動學(xué)仿真分析。在本次設(shè)計中,利用了三次多項式法來求取插值點,在一定程度上解決了在傳統(tǒng)的插值方法中求出的相鄰插值點之間的距離不會保持一致的問題,且相鄰插值點間的距離受所設(shè)計的軌跡曲線曲率影響較小,從而使四足機器人在一些陡峭復(fù)雜的地形中運動時能夠保持穩(wěn)定,通過仿真分析,獲得一系列重要的實驗數(shù)據(jù),也驗證了本次設(shè)計方案的合理性,為后續(xù)的研究提供了有價值的實驗數(shù)據(jù)。
[Abstract]:With the development of science and technology and the development of society, the robot industry has been developed rapidly, and robot technology has been widely used in industrial production and social life. And the foot robot, especially the quadruped robot, has become the research hotspot of scientists at home and abroad. After referring to many different design schemes and combining the experimental conditions of the existing laboratory, a structural model with 12 degrees of freedom is determined from the design schemes of two kinds of four-legged robot mechanisms with advantages and disadvantages. In the second step, the stability of the quadruped robot KXRR is analyzed. The kinematics analysis includes the establishment of the equations at the end of the quadruped robot's KXRR foot in the space coordinate system, and the positive and inverse solutions of the kinematics are completed. In the third step, the cubic polynomial method is used to select and determine the interpolation points, so that the trajectory is optimized and the trajectory planning and gait analysis are completed. Then the 3D model of the quadruped robot is built by using the novel SolidWorks2013 software, and then the KXRR of the quadruped robot is simulated with ADAMS2012. Through the simulation, the kinematics data such as velocity and acceleration of the quadruped robot are obtained, such as velocity and acceleration. The displacement is analyzed by kinematics simulation. In this design, the cubic polynomial method is used to obtain the interpolation points, which to some extent solves the problem that the distance between the adjacent interpolation points obtained in the traditional interpolation method is not consistent. The distance between the adjacent interpolation points is less affected by the curvature of the trajectory curve, so that the quadruped robot can maintain stability in some steep and complex terrain. Through simulation analysis, a series of important experimental data are obtained. It also verifies the rationality of the design scheme and provides valuable experimental data for further research.
【學(xué)位授予單位】：華北水利水電大學(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：2335138