【作者】 李林；

【导师】 王立权；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2010， 硕士

【摘要】 本课题是来源于国家自然科学基金项目“多足仿生机器蟹复杂地貌行走方法研究”来开展的。该项目的研究目标是设计一种新型仿生机器蟹结构,使设计完成的机器人可以通过一段与其结构尺寸相类似的自然生物可以通过而轮式和履带车辆难以通过的复杂道路,同时保持与自然生物相类似的步行效率和步行速度。首先通过对国内外各种仿生腿式机器人研究情况进行分析,研究了仿生腿式机器人的发展趋势及将来要突破的关键技术,在以前研制的前五型两栖仿生机器蟹的基础上,提出了一种新型仿生机器蟹设计方案,设计的模块化驱动关节传动效率和输出扭矩得到了大幅提高；设计的新型步行足结构使机器人的轻动性、灵活性等性能指标最优化；同时为了有效地减小机器人在非结构环境中高速动态行走时关节受到的冲击力,设计了一种新型弹性驱动关节,实现了结构仿生的目标。通过对两栖仿生机器蟹作业任务进行分析,确定了复合作业机械手的作业功能需求,并设计了具有两栖作业功能的机械手爪,该手爪可以针对不同的作业任务快速更换模块化作业工具,最后通过对机械手手指抓取误差进行分析,优化设计了手爪尺寸,实现了两栖仿生机器蟹功能仿生的目的。为了验证仿生机器蟹结构设计的合理性,利用基于ADAMS的虚拟样机仿真技术建立的虚拟样机模型,对机器人的进行了平地横向行走和复杂地貌的越障和爬坡实验,验证了新型仿生机器蟹结构设计的合理性,仿真实验为我们物理样机的研制提供了有力的参考。最后为了验证机器人系统的综合性能,设计完成了步行足落地力觉反射实验、驱动关节传动间隙对机器人位置控制的影响实验、机器人直线行走和爬坡性能实验等,通过上述实验完成了对机器人的机械性能、传感器性能以及控制系统的合理性等的测试。更多还原

【Abstract】 The research is supported by project of "Research on the Multi-legged Bionic Crab-liked Robot’s Walking Method of the Complex Topography" which is funded by NSFC(National Natural Seience Foundation of China). The project’s objective is to design a new type of bionic crab-liked robot. The robot can get through the complex road which is easy for the similar structure size natural biological to overpass, but difficult for the wheeled and tracked vehicles. At the same time, the robot should maintain the walking efficiency and speed which is similar to the natural biological.First, through the analysis of a variety of research on the bionic legged robots at home and abroad, we made a research on the bionic legged robot’ development trends and the key technologies that should be overcomed in the future. Based on the previous five amphibious bionic crab-liked robot, a new type of bionic crab-liked robot had beed designed. The design of the modular drive transmission joints improved the robot’s efficiency and output torque greatly The structure of the new leg optimizes the robot’s briskness performance and flexibility. In order to reduce impact force effectively when the robot walks on the unstructured environment at high speed, a new type of flexible-driven joints was designed. The whole design achieve the goal of structural biomimetic.Through the analysis of the bionic crab-liked robot’s tasks, the functional requirements of the composite manipulator were determined. The manipulator which can work under the water was designed. The gripper of the manipulator can be in quick-change modular operating tools for different tasks. Finally, through the analysis on the grabbing error of robot finger, the gripper size was optimized. The manipulator realized the function of bionic bionics crab purposes.In order to verify whether the bionic crab-legged robot’s structural design is reasonable, a virtual prototype model was built, which is based on the software "ADAMS". The experiments which include the robot walk on flat floor, get through the obstacles and climb the designed slope have been done. The experiments validated the rationality of the new type of bionic crab-legged robot’s structural design. The simulation of the physical prototype provide a strong reference for the robot’s structural design.Finally in order to verify the integrated performance of robotic systems, four experiments are designed, which include the feet’s force reflective experiment, the experiment about the influence of drive joint’s transmission gap to the robot’s position control, the robot’s straight-line walking and climbing performance test. Through the above experiments, the mechanical properties of the robot, sensor performance, and control systems’rationality have been tested.更多还原