【作者】 刘萌萌；

【导师】 邵俊鹏；

【作者基本信息】 哈尔滨理工大学 ， 机械工程（专业学位）， 2019， 硕士

【摘要】 随着机器人研究的不断深入,以液压作为驱动的四足机器人正逐渐应用于军事、探险、救援等野外复杂环境,室外的工作环境对于机器人的续航能力与稳定性提出了更高的要求。电液伺服作动器作为液压四足机器人的关节驱动单元,其性能将直接影响着机器人的运动特性。因此,具有高效率、高功率密度等特性的电液伺服作动器是保障机器人在室外长时间稳定运行的前提和基础。为此,本文将以液压四足机器人Trot步态下的关节轨迹为基础,运用最优负载匹配的方法对机器人作动器负载匹配参数进行研究。通过分析多组拓扑结构建立机器人三维模型。运用D-H法建立机器人运动学模型,分析机器人足端相对于机身质心的正逆运动学问题;运用牛顿-拉格朗日法分析机器人腿部动力学问题,为后续步态规划与动力学仿真提供理论依据。建立机器人足端工作空间,采用基于新型摆线的足端轨迹规划法对机器人Trot步态进行规划。分析足端轨迹在二维平面内的位移、速度、加速度,验证足端轨迹规划算法的合理性。采用基于Adams的虚拟样机技术,对机器人进行Trot步态仿真,最终得到机器人Trot步态下的关节轨迹。分析电液伺服作动器的结构组成,确定位移和力传感器型号参数。进行机器人腿部关节转动空间向作动器移动空间的转换,得到作动器的负载轨迹。通过改变输出特性曲线建立作动器的多组负载匹配模型,根据匹配规则最终确立作动器的最优负载匹配参数。搭建AMEsim-MATLAB联合仿真平台,对多组匹配参数进行液压系统仿真,仿真结果表明最优匹配参数下的作动器运行效率最高,验证了基于关节轨迹的作动器负载匹配方法的有效性。在上述理论与仿真研究的基础上,结合作动器最优匹配参数搭建了液压四足机器人样机实验平台。对机器人Trot步态进行了实验研究,实验结果进一步验证了所提方案的有效性。更多还原

【Abstract】 With the development of robot research,quadruped robots driven by hydraulic pressure are gradually being used in military,exploration,rescue and other complex field environments,outdoor working environment puts forward higher requirements for the endurance and stability of robots.As a joint driving unit of hydraulic quadruped robot,the performance of electro-hydraulic servo actuator will directly affect the motion characteristics of the robot.Therefore,the electro-hydraulic servo actuator with high efficiency and high power density is the premise and foundation to ensure the long-term stable operation of the robot outdoors.To this end,this paper will be based on the joint trajectory of a hydraulic quadruped robot in Trot gait,the method of optimal load matching is used to study the load matching parameters of robot actuators.Establishing a three-dimensional model of a robot by analyzing multiple sets of topologies.Kinematics model of robot was established by D-H method,the forward and inverse kinematics question of the robot foot to the center of fuselage mass was analyzed,Newton-lagrange method was used to analyze the leg dynamics of the robot.It provides theoretical basis for subsequent gait planning and dynamics simulation.The foot workspace of the robot is established,The Trot gait of the robot was planned by using a foot trajectory planning method based on a new cycloid.The displacement,velocity and acceleration of the foot trajectory in a two-dimensional plane was analyzed,the rationality of the algorithm based on cycloid was verified.Virtual prototype technology based on Adams was adopted,trot gait simulation of robot was carried out,finally,the joint trajectory of Trot gait was obtained.The structure of electro-hydraulic servo actuator was analyzed,the model parameters of displacement and force sensor was determined.The rotation space of the robot leg joint was transformed into the stretching space of the actuator,The load trajectory of the actuator was obtained.The multi-group load matching model of the actuator was established by changing the output characteristic curve,finally,the optimal load matching parameters of the actuator were determined according to the matching rules.AMEsim-matlab joint simulation platform was set up,hydraulic system simulation was carried out for multiple sets of matching parameters,the simulation results show that the actuator operating efficiency is the highest under the optimal matching parameters.the validity of the actuator load matching method based on joint trajectory was verified.Based on the above theory and simulation research,experimental platform of hydraulic quadruped robot prototype was built by combining the optimal matching parameters of actuator.An experimental study on Trot gait of robot was carried out,the experimental results further verify the effectiveness of the proposed scheme.更多还原