【作者】 曾强；

【导师】 方跃法；

【作者基本信息】 北京交通大学 ， 机械设计及理论， 2007， 硕士

【摘要】 双足步行机器人的研究已有40多年的历史,目前已成为机器人研究领域的主要研究方向之一。结合分析近几年国内外双足步行机器人的相关研究,在其已实现准动态步行的基础上,为了进一步提高双足步行机器人的行走速度,本文从机器人的机构本体到整体的协调运动及能耗、外部环境等各个方面做了进一步的优化改进,针对动态行走中影响速度的方面进行了研究。首先,根据双足机器人本体的结构特点,对四肢及身体的所有杆件定义坐标系,采用D-H法前置模型的坐标变换,对步行机器人四肢串联机构及身体本体进行了重心合成计算,建立并分析其支链的动力学模型,分别对快速移动中单腿支撑期以及双腿支撑期对应采用了串联与并联的动力学模型分析方法。关节机构方面,为了适应快速移动中冲击力大的要求,提供局部关节的转动限位,增加整体稳定性与负载功率比,设计并采用了改进的“筋”动力耦合关节作为驱动,使关节机构设计更加类人化。其次,由单摆理论演化而来的抵消规律,将上肢摆臂及上体扭转产生的运动补偿,用来抵消下体快速运动产生的“自扭”现象,使上下整体协调运动,并确定质心运动的边界条件,进一步提高机器人快速移动中的稳定性及抗干扰能力。分析中提出“腿三角”与“臂三角”的概念,对机器人多体系统进行了合理有效的简化,便于最终的运动控制与仿真分析。在影响机器人行进速度的其他方面,如路面状况及冲击能耗问题,也做了进一步的综合分析。最后,在机器人动力模型合理有效简化的基础上,通过三维动力学仿真软件,对平地上机器人的快速移动进行了仿真,分析整体协调运动后关节输出的数据结果,验证了理论分析的可行与不足之处,确定增加稳定性需进一步改进的方面。更多还原

【Abstract】 The history of research in biped robot has more than 40 years. At present, it has become one of the main research area of the robotics. According to the domestic and international research in biped robot at last few years, based on the permitted-dynamic state for further improving the biped robot speed, this text optimized the several aspects of robot, such as the structure, the global coordinate motion, the consumption of energy and the exterior environment etc. And this text has researched the dynamic state in the influence of robot speed.Firstly, according to the character of biped robot structure, the text defined the coordinate for staff of the four limbs and body, and used the D-H method coordinate transformation of pre-model to calculated the center of gravity of the four limbs and body. At the same time, we built and analysed the dynamics model of the chain, and adopted the analysis method of chain and parallel dynamics model for the stage of single leg prop and the legs prop in the quickly motion. At the aspect of joint structure, the text provided the rotate limit of partial joint for adapting to the great request of big shock in the quickly motion, and enhanced the global stability and the ratio of load-power. And then the text designed and adopted the improvement of "tendon " joint as the driver to make the design of joint structure become more humanoid.Secondly, based on the pendulum theories, we made the motion offset of arms swing and up-body turn round as to offset the "self-twist" phenomenon that produced by legs swing, which makes global motion become more coordination,and ascertains the boundary condition of the center of gravity motion to enhance the stability and the anti- interference ability of robot in quickly motion. This text has bring forward the concept of "leg triangle" and "arm triangle", and made a reasonable and valid simplification of the multi-body of robot systems, which made the motion-control and simulation-analysis easily. At the other aspect that affect the robot speed, such as the road condition and the problem of impact energy-consumption, we did a further synthetical analysis.Lastly, at the foundation of the reasonable and effect simplify for the robot dynamics model and the simulation of the quickly motion of robot on the flat ground by a 3D dynamics sim-software, the text had analysed the data-results of actuate joint after the global coordination motion,tested and verified the feasibility and the shortage更多还原