【作者】 张博；

【导师】 孙立宁；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2006， 硕士

【摘要】 人形机器人一直是机器人领域研究的热点,它集中了机械工程、电子工程、计算机工程、信息工程、自动控制工程以及人工智能和仿生学等多种学科的最新科研成果,代表了机电一体化的最高成就,是目前科技发展最活跃的领域之一。课题旨在设计一种小型双足人形机器人平台,在此基础上对双足机器人的步行机理进行研究,为进一步设计自主的智能双足人形机器人积累经验。以人体结构为模仿对象,对其进行了抽象与简化。应用微型伺服马达作为驱动元件,采用集中式控制,并在分析自由度配置及传感器应用方案的基础上,对小型双足人形机器人的本体机构进行设计。机器人采用离线规划—再线调整的行走方式,其中,对机器人离线规划提出三步规划法。首先,结合对人类行走步态的研究,规划机器人行走姿态及轨迹;在此基础上建立并求解运动学方程,获得机器人行走时各关节的转角曲线;最后,针对前向运动与侧向运动之间的耦合,对求得的运动曲线进行修正,使机器人在保证稳定的前提下,动作更加流畅。结合机器人物理样机模型,利用三步规划法规划机器人行走步态,使其在平行步态下实现静态步行。应用虚拟样机技术,对机器人行走步态进行仿真实验。在SolidWorks中建立机器人的简化模型,导入仿真软件Adams中,再利用Matlab中得到的运动曲线控制虚拟样机模型的关节运动。通过联合仿真实验获得机器人行走时的动态图像及实验数据,验证步态规划方法的可行性。最后应用规划的关节运动曲线控制微型伺服马达,实现物理样机的稳定行走,进一步验证理论研究的正确性和有效性。更多还原

【Abstract】 Humanoid robot is an integration field, developed in recent years, which includes the latest research results on mechanical engineering, electrical engineering, computer engineering, communication engineering, automatic control, artificial intelligence, and bionics etc. It represents the greatest achievement of mechatronics engineering, which, at present, is one of the most prosperous fields.The project aims to design a kind of a miniaturization biped humanoid robot and carry out the research on the basic walking principle of this robot, in order to accumulate the design experience of autonomous intelligent biped robot systems later on.This thesis mimics an object on a human body structure which has been abstracted and simplified. Mini-server motors are applied as the actuators in the system, which uses the central control mode. The structure of a biped humanoid robot is designed based on the analysis of the configuration of degree of freedoms and the utilization of sensors.The robot walking mode uses the method of“Off-line planning, On-line adjustment”, in which the three-step program of off-line planning is raised. Firstly, making out the walking poses and tracks of the robot, according to the study on the humans’gait and the sine and cosine curves are used to program its center-of-gravity track and its feet-lifting track. Secondly, the kinematics model is established, and according to the constraint and the programmed tracks, the kinematics equations of each walking stages are available. Then find the solutions of each equation and get the motion curves of its joints, which are also the motion curves of the mini-servomotor. Finally, the coupling of its forward and sideward motion revises the existing motion curves, in order to ensure that the robot can walk stably enough.The robot’s walking gait simulation is performed utilizing the virtual prototype technology. Firstly, a simplified model of the robot is established in SolidWorks, which is imported into the simulation software Adams. And then the motion curves got from Matlab are applied on joints control. The joint simulation更多还原