【作者】 宋扬；

【导师】 马洪文；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2010， 硕士

【摘要】 机器人技术集中了机械工程、电子工程、通信工程、自动控制工程以及人工智能工程等多学科的最新科研成果,代表了一个国家的高新科技水平和工业自动化水平。步行机器人是机器人研究领域的的热点之一,当前步行机器人面临的主要问题是机器人难以象人和动物一样通过相对复杂的地貌,本文通过设计和分析一个平面四足机器人,对步行机器人在复杂地貌上的行走进行一定研究,具体工作如下：首先,本文分析讨论了国内外典型的四足仿生机器人的结构特点以及控制方法,并总结归纳了机器人基础理论的发展历程。本文采用了马洪文提出的一种基于预期控制期望落地点(DLP)的行走方法,并详细介绍了其原理以及实现方法。其次,本文设计了一种用于验证平面四足仿生机器人DLP行走方法的四足机器人,整个机器人结构由1个躯体和4条结构完全相同的腿部组成,只具有8个自由度,使其能够沿水平方向和竖直方向运动,将水平运动曲线和竖直运动曲线相拟合即可得到腿部的运动轨迹。另外,对移动关节式四足仿生机器人的总体控制方案进行了设计。再次,本文对移动关节式四足仿生机器人进行了仿真。使用ADAMS和Matlab/Simulink联合对移动关节式四足仿生机器人的虚拟样机进行行走运动仿真,验证其DLP行走方法的可行性和正确性,该机器人可以在平坦地貌和复杂地貌上稳定和平稳的行走。最后使用dSPACE仿真系统对移动关节式四足仿生机器人的单腿进行单腿运动试验,主要包括足尖定位和运动轨迹跟踪试验,以验证其机械结构的可行性和正确性,最终拟合出一条单腿的运动轨迹。更多还原

【Abstract】 Robot technology focuses on the latest scientific research,including mechanical engineering,electronic engineering, communications engineering, automatic control engineering and artificial intelligence engineering, etc,and represents a country’s level of high technology and industrial automation. Walking robot is one of the hottest field in robotics research. Now the walking robot is facing the major problems that the robot cannot walk through rough terrain as easy as people and other animals. By designing and analysing a planar quadruped robot, this paper study on the issue of the walking robot walk on rough terrain to some extent. specific tasks are as follows:First of all, this paper analyzed and discussed the structural characteristics and control methods of the typical quadruped bionic robot at home and abroad, also summarized the basic theory of robot development process. The paper ues a new walking method calling Desired Landing Points (DLP) that was supposed buy Mahongwen.,and the paper illustrate the principle and the implementation method.Secondly, the paper designs a quadruped robot for verifying the planar quadruped bionic robot’s DLP methods. The entire robot structure consists of a trunk and four legs whicht are identical structures,and only has eight degrees of freedom so that it can be along the horizontal and vertical movement, then horizontal movement curve and vertical movement curve can fit the motion trace of the leg. In addition, the jointed quadruped bionic robot’s overall control system scheme is designed.Thirdly, the paper makes some simulations for the jointed quadruped bionic robot by using software. ADAMS and Matlab/Simulink simulate the movement of the jointed quadruped bionic robot’s virtual prototype for verifying the feasibility and validity of the Desired Landing Points (DLP) walking method. The robot can walk stably and smoothly on plain terrain and on rough terrain. Finally, useing dSPACE the paper simulate the motion trace of the jointed quadruped bionic robot’s single leg,including toe position and trace tracking, verifies the feasibility and validity of the mechanical structure. And at last the paper fits out the motion trace of the leg.更多还原