【摘要】：目前,移動(dòng)機(jī)器人在社會(huì)生產(chǎn)活動(dòng)中已經(jīng)得到了廣泛的應(yīng)用。在松軟和不平坦的地面上,相比傳統(tǒng)的輪式機(jī)器人,具有高爆發(fā)力的仿青蛙機(jī)器人具有更好的移動(dòng)性能。在仿青蛙機(jī)器人跳躍研究過(guò)程中,動(dòng)態(tài)穩(wěn)定控制問(wèn)題是主要的挑戰(zhàn)。本文針對(duì)該問(wèn)題,根據(jù)實(shí)際作業(yè)需求,給仿青蛙機(jī)器人設(shè)計(jì)了不同的跳躍方案。基于遺傳算法,對(duì)仿青蛙機(jī)器人跳躍過(guò)程的關(guān)節(jié)軌跡進(jìn)行了優(yōu)化,得到了仿青蛙機(jī)器人最佳的跳高和跳遠(yuǎn)控制策略。結(jié)合力學(xué)分析,得到了影響仿青蛙機(jī)器人跳躍性能的主要因素,建立了能滿足在多種障礙下工作的仿青蛙機(jī)器人跳躍力學(xué)模型。本文從仿生學(xué)角度出發(fā),選擇具有優(yōu)秀跳躍性能和合理運(yùn)動(dòng)結(jié)構(gòu)的青蛙作為研究對(duì)象,建立了平面連桿機(jī)構(gòu)仿青蛙機(jī)器人跳躍模型。在該模型的基礎(chǔ)上,對(duì)仿青蛙機(jī)器人在起跳和騰空階段的進(jìn)行了運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)分析,研究了仿青蛙機(jī)器人在跳躍過(guò)程中各關(guān)節(jié)運(yùn)動(dòng)軌跡,質(zhì)心速度,質(zhì)心加速度和各關(guān)節(jié)扭矩之間的關(guān)系,建立了仿青蛙機(jī)器人在跳躍過(guò)程中各關(guān)節(jié)的動(dòng)力學(xué)模型。根據(jù)仿青蛙機(jī)器人在實(shí)際作業(yè)中的障礙種類,提出了跳高和跳遠(yuǎn)兩種跳躍方案�；谶z傳算法,分析了不同起跳時(shí)間下仿青蛙機(jī)器人的跳躍性能,同時(shí)在最佳起跳時(shí)間下,分析了仿青蛙機(jī)器人跳高和跳遠(yuǎn)指標(biāo)下的跳躍性能,得到了滿足不同跳躍指標(biāo)的各關(guān)節(jié)控制策略。結(jié)合Matlab仿真分析和已有的實(shí)驗(yàn)數(shù)據(jù),驗(yàn)證了方案的正確性和可行性。結(jié)合矢量法和矩陣法分析可以簡(jiǎn)化仿青蛙機(jī)器人運(yùn)動(dòng)學(xué)的運(yùn)算�；谄矫媪ο低茖�(dǎo)得到的動(dòng)力學(xué)方程結(jié)論,適用于任意空間坐標(biāo)系下的機(jī)器人動(dòng)力學(xué)分析。通過(guò)軌跡優(yōu)化得到的各關(guān)節(jié)運(yùn)動(dòng)軌跡,結(jié)合逆動(dòng)力學(xué)方程,解決了六關(guān)節(jié)仿青蛙機(jī)器人跳躍中動(dòng)力學(xué)的強(qiáng)耦合和非線性分析難點(diǎn)。在優(yōu)化后的關(guān)節(jié)運(yùn)動(dòng)軌跡中,通過(guò)控制影響跳躍性能的主要因素,可以使仿青蛙機(jī)器人在實(shí)際應(yīng)用中跳的更高和更遠(yuǎn)。
文內(nèi)圖片：
圖片說(shuō)明：圖1-5雙臂柔性欠驅(qū)動(dòng)模型
[Abstract]:At present, mobile robots have been widely used in social production activities. Compared with the traditional wheeled robot, the frog imitating robot with high explosive force has better mobile performance on the soft and uneven ground. In the research process of frog robot jump, dynamic stability control is the main challenge. In order to solve this problem, according to the actual operation requirements, different jump schemes are designed for frog imitating robots. Based on genetic algorithm, the joint trajectory of frog-like robot is optimized, and the optimal high jump and long jump control strategy of frog-like robot is obtained. Combined with mechanical analysis, the main factors affecting the jumping performance of frog-like robot are obtained, and the jumping mechanics model of frog-like robot which can meet the requirements of working under various obstacles is established. In this paper, from the point of view of bionics, the frog with excellent jumping performance and reasonable motion structure is selected as the research object, and the jump model of planar linkage mechanism imitating frog robot is established. On the basis of this model, the kinematic and dynamic analysis of frog imitating robot in take-off and take-off stage is carried out, and the relationship among joint motion trajectory, centroids velocity, centroids acceleration and joint torque during jump is studied, and the dynamic model of each joint in jumping process is established. According to the obstacle types of frog imitating robot in practical operation, two jumping schemes, high jump and long jump, are put forward. Based on genetic algorithm, the jumping performance of frog-like robot under different take-off time is analyzed. At the same time, under the optimal take-off time, the jump performance of frog-like robot under high jump and long jump index is analyzed, and the joint control strategies satisfying different jump indexes are obtained. Combined with Matlab simulation analysis and existing experimental data, the correctness and feasibility of the scheme are verified. The kinematic operation of frog imitating robot can be simplified by combining vector method and matrix method. Based on the conclusion of the dynamic equation derived from the plane force system, it is suitable for the dynamic analysis of the robot in any spatial coordinate system. Through the trajectory optimization of each joint trajectory, combined with the inverse dynamic equation, the difficulties of strong coupling and nonlinear analysis of dynamics in the jump of six-joint frog robot are solved. In the optimized joint trajectory, by controlling the main factors that affect the jump performance, the frog imitating robot can jump higher and farther in practical application.
【學(xué)位授予單位】：哈爾濱工業(yè)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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