本文選題：四足機(jī)器人 + 混聯(lián)機(jī)構(gòu)��； 參考：《鄭州大學(xué)》2017年碩士論文

【摘要】：本課題提出一種具有混聯(lián)腿部結(jié)構(gòu)的新型四足機(jī)器人,引入張量分析理論和旋量理論,構(gòu)建了該混聯(lián)四足機(jī)器人對(duì)于廣義輸入的逆向協(xié)調(diào)方程。以整機(jī)的防滑性能作為優(yōu)化指標(biāo),利用遺傳算法進(jìn)行了協(xié)調(diào)計(jì)算,并基于該協(xié)調(diào)方法求取了整機(jī)動(dòng)力學(xué)。本課題還基于旋量理論和李群李代數(shù)方法結(jié)合張量分析方法提出了求解運(yùn)動(dòng)學(xué)的方法,為分析機(jī)構(gòu)的運(yùn)動(dòng)學(xué)構(gòu)建了新思路,具有一定的理論價(jià)值和指導(dǎo)意義。首先,對(duì)混聯(lián)腿部機(jī)構(gòu)進(jìn)行了運(yùn)動(dòng)學(xué)分析,得到了腿部機(jī)構(gòu)運(yùn)動(dòng)學(xué)反解模型以及正解求取方法,并對(duì)正解算法進(jìn)行了驗(yàn)證。對(duì)四足機(jī)器人整機(jī)進(jìn)行了運(yùn)動(dòng)學(xué)求解時(shí)直接利用坐標(biāo)變換規(guī)則將整機(jī)運(yùn)動(dòng)學(xué)問(wèn)題轉(zhuǎn)化為了單腿運(yùn)動(dòng)學(xué)問(wèn)題,簡(jiǎn)化了整機(jī)運(yùn)動(dòng)學(xué)求解過(guò)程。提出了單腿的動(dòng)力利用率指標(biāo),利用遺傳算法對(duì)單腿機(jī)構(gòu)的關(guān)鍵結(jié)構(gòu)參數(shù)進(jìn)行了優(yōu)化分析;針對(duì)單目標(biāo)優(yōu)化結(jié)果中存在的問(wèn)題,引入加權(quán)綜合指標(biāo)作為適應(yīng)度函數(shù),并改變了單腿機(jī)構(gòu)關(guān)鍵結(jié)構(gòu)參數(shù)的組成,對(duì)單腿結(jié)構(gòu)參數(shù)進(jìn)行了進(jìn)一步的優(yōu)化。結(jié)果表明,改進(jìn)的優(yōu)化算法能夠得到綜合性能更加良好的優(yōu)化結(jié)果。分別利用拉格朗日方法和牛頓歐拉與影響系數(shù)結(jié)合的方法對(duì)腿部機(jī)構(gòu)進(jìn)行了動(dòng)力學(xué)求解。利用MATLAB對(duì)腿部機(jī)構(gòu)運(yùn)動(dòng)學(xué)與動(dòng)力學(xué)進(jìn)行了計(jì)算,并利用ADAMS虛擬樣機(jī)仿真軟件,對(duì)單腿機(jī)構(gòu)的運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)進(jìn)行了仿真分析,得到結(jié)果與MATLAB計(jì)算結(jié)果一致,驗(yàn)證了樣機(jī)的正確性及運(yùn)動(dòng)學(xué)與動(dòng)力學(xué)建模的正確性,為進(jìn)一步的運(yùn)動(dòng)及動(dòng)力控制奠定了基礎(chǔ)。最后,將四足機(jī)器人各支撐足端點(diǎn)受力作為機(jī)器人的廣義輸入,引入反對(duì)稱張量構(gòu)建了整機(jī)逆向協(xié)調(diào)方程,并擬定了機(jī)器人動(dòng)載荷,以各支撐足端點(diǎn)受力與地面法線方向的夾角作為評(píng)價(jià)機(jī)器人防滑性能的指標(biāo),利用遺傳算法對(duì)支反力進(jìn)行了協(xié)調(diào)優(yōu)化;基于牛頓歐拉方法和理論力學(xué)中相對(duì)運(yùn)動(dòng)的轉(zhuǎn)換方程,求取了整機(jī)動(dòng)載,并利用上述協(xié)調(diào)優(yōu)化方法結(jié)合牛頓歐拉法求解了整機(jī)動(dòng)力學(xué);并求取了各足端點(diǎn)支反力與地面法線方向夾角的變化曲線,分析了整機(jī)運(yùn)動(dòng)中存在的問(wèn)題,結(jié)合整機(jī)步態(tài)對(duì)該問(wèn)題進(jìn)行了分析。本課題的研究為該新型四足機(jī)器人的運(yùn)動(dòng)和動(dòng)力控制奠定了基礎(chǔ),并且對(duì)于混聯(lián)機(jī)構(gòu)及混聯(lián)構(gòu)型四足機(jī)器人的運(yùn)動(dòng)及動(dòng)力學(xué)研究具有一定的參考意義。
[Abstract]:In this paper, a new quadruped robot with hybrid leg structure is proposed. By introducing the Zhang Liang analysis theory and spinor theory, the inverse coordination equation for the generalized input of the hybrid quadruped robot is constructed. Taking the anti-skid performance of the whole machine as the optimization index, the coordination calculation is carried out by using genetic algorithm, and the dynamics of the whole machine is obtained based on the coordination method. Based on spinor theory, Li Qun lie algebra method and Zhang Liang analysis method, a new method for kinematics analysis is proposed, which has a certain theoretical value and guiding significance. Firstly, the kinematics analysis of the hybrid leg mechanism is carried out, and the inverse kinematic solution model and the forward solution method of the leg mechanism are obtained, and the forward solution algorithm is verified. In this paper, the kinematics problem of quadruped robot is transformed into a single leg kinematics problem by using coordinate transformation rules, which simplifies the whole kinematics solution process. The dynamic utilization ratio index of single leg is put forward, and the key structural parameters of single leg mechanism are optimized by genetic algorithm, and the weighted synthesis index is introduced as fitness function to solve the problems existing in the result of single objective optimization. The composition of the key structure parameters of the single leg mechanism is changed and the single leg structure parameters are further optimized. The results show that the improved optimization algorithm can obtain a better comprehensive performance optimization results. Lagrangian method and Newtonian Euler method combined with influence coefficient are used to solve the leg mechanism. The kinematics and dynamics of leg mechanism are calculated by MATLAB, and the kinematics and dynamics of single leg mechanism are simulated and analyzed by using ADAMS virtual prototype simulation software. The results are consistent with that of MATLAB. The correctness of the prototype and the modeling of kinematics and dynamics are verified, which lays a foundation for further motion and dynamic control. Finally, the forces at the endpoints of each supporting foot of the quadruped robot are taken as the generalized input of the robot, and the anti-symmetric Zhang Liang is introduced to construct the whole machine reverse coordination equation, and the dynamic load of the robot is worked out. The angle between the end force of the supporting foot and the normal direction of the ground is taken as the index to evaluate the anti-skid performance of the robot, and the coordinated optimization of the supporting reaction force is carried out by using the genetic algorithm, which is based on the Newtonian Euler method and the transformation equation of relative motion in the theoretical mechanics. The dynamic load of the whole machine is obtained, and the dynamics of the whole machine is solved by using the coordination optimization method and Newtonian Euler method, and the change curve of the angle between the reaction force of the foot end support and the normal direction of the ground is obtained, and the problems existing in the whole machine motion are analyzed. The problem is analyzed in combination with the gait of the whole machine. The research of this subject lays a foundation for the motion and dynamic control of the new quadruped robot, and has a certain reference significance for the study of the motion and dynamics of the hybrid mechanism and the hybrid configuration quadruped robot.
【學(xué)位授予單位】：鄭州大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

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