【作者】 刘长胜；

【导师】 任露泉； 赵宏伟；

【作者基本信息】 吉林大学 ， 机械设计及理论， 2012， 硕士

【摘要】 汽车能够在公路上飞驰电掣，火车可以在铁路上呼啸而过。但它们只能在相对平整的路面上行驶。在像沙漠、地质灾害和战争造成的废墟等环境下，当前的汽车等车辆却常常深陷其中，无法脱身。然而，自然界中的蜥蜴等爬行动物在这类特殊环境下具有优良的行进能力，能够行走自如。参照这类生物的运动机制，研制开发针对特殊环境通过性优良的仿生机器人，显然具有十分重要的意义。本文首先分析了仿生六足机器人驱动足与软、硬地面的地面力学，包括建立机器人软地面步态和硬地面步态的数学模型，分别对驱动足与沙漠作用的力学特性、驱动足与硬地面作用的力学特性进行分析，接着在此基础上计算了机器人驱动足所需的扭矩、功率，为仿生六足机器人选配电机提供理论依据。其次，按照模块化的设计思想，设计由微处理器模块、电机驱动模块，测位模块，以及电源模块组成的控制系统的硬件结构。再次，根据自顶向下和模块化的设计思想，设计了整个软件系统，包括通讯模块、辅助模块、操纵模块等，并用VB编程语言编写了机器人的控制面板，用来控制机器人实现相应的动作。最后，将微处理模块、驱动模块等集成到机器人内，进行机器人运动实验分析，包括在光滑的地面上测量机器人在行走过程中所产生的误差，以此来确定机器人的行走误差；令机器人以软地面步态在软地面上行走，探寻其极限速度；同样的，令机器人步态更换为硬地面步态，在硬地面上行走，探寻其极限速度；进行实地转向实验，检查转向的有效性，并且测量机器人转不同角度所需时间。根据最后实验结果，本仿生六足机器人在软地面上最快速度能达到220mm/s，在硬地面上最快速度能达到251mm/s，特别是机器人在软地面（沙漠）上运行时，车身很难下陷，具有很强的通过性。因此，本机器人对面向复杂地面的，特别是软地面（沙漠）行走机器人与车辆的研究开发有一定的参考意义。更多还原

【Abstract】 Automobile runs fast on the highway, and train rolls at high speed on the railway. Butthe vehicles require all of that engineered smoothness. If in the desert or disaster sites andbattlefields, they can’t go far. However, some reptiles like lizards can move freely in thespecial places. According to the inspiration from lizards, researching the bionic robot whichcan run like a lizard on the complex ground is of most importance.First, the paper built the mathematical model of tripod gait for soft ground and the gaitfor hard ground. Analyzed the terramechanics between leg of robot and the soft ground,and the terramechanics on the hard ground. And then according to the analysis, calculatedthe torque and power needed by the robot to provide basis for the selection of the motor ofrobot. Second, the hardware of the control system was designed based on the idea ofmodularization. It includes the microprocessor module, motor driving module, positionmeasuring module, and the power module. Third, also based on the idea of modularization,the paper designed the software of the control system, including the communicationmodule, the assistant module, the control module. And designed the control panel for therobot using VB programming language. With this, the robot is controlled moreconveniently. Forth, after installing the microprocessor module, the driving module, and soon, the robot was completely finished. Made robot walk on the smooth ground to carry outthe straight walking experiment, and then measured the lateral error on displacementbecause of the machining errors or the assembly errors of the robot. Made the robot walkon the soft ground with soft ground gait, and then found the limit of speed of the robot onthe soft ground. To be the same, made the robot walk on the hard ground with hard groundgait, and then found the limit of speed on the hard ground. The effectiveness of turning ofthe robot was verified by experiments and the time it costs when turn different angle wasrecorded. With the experiments measured above, the bionic hexapod robot’s fastest speedreaches220mm/s on the soft ground, and251mm/s on the hard ground. What is worthmentioning, it is not easy to be caved for the robot because of the special gait, whenwalking on the soft ground. So the robot may supply some kind of reference to the robotwalking on the complex ground, especially on the soft ground(the desert).更多还原