液压四足机器人单腿跳跃步态规划

发布时间：2018-01-05 05:31

本文关键词：液压四足机器人单腿跳跃步态规划　出处：《哈尔滨理工大学》2017年硕士论文　论文类型：学位论文

更多相关文章： 运动学 动力学 步态规划 联合仿真

【摘要】：步态规划是实现液压四足机器人在复杂环境中稳定运动的前提,影响着机器人的环境适应性、稳定性、功耗、动态性等。而跳跃步态作为一种典型的动步态,对其进行研究对于改进机器人的结构以及提高机器人越障性、环境适应力等方面具有重要意义。因此,本文以实验室自主设计研发的液压四足机器人单腿为研究平台,对其进行跳跃步态规划的研究。首先,采用D-H法对液压四足机器人单腿进行正逆运动学求解分析,建立液压四足机器人单腿运动学模型,研究各个关节间相对运动关系;采用拉格朗日功能平衡法对机器人单腿进行动力学建模,研究力与机器人单腿运动间的关系,为后续联合仿真提供理论依据。其次,参照动物实际跳跃情况,根据仿生学理论,对实验室自主研发的液压四足机器人单腿跳跃步态进行轨迹规划。通过运动分析、轨迹规划以及关节空间和驱动空间的转换关系,推导出各关节液压缸的驱动函数,完成机器人单腿跳跃步态规划。再则,利用MATLAB与ADAMS进行跳跃步态的联合仿真,获取机器人单腿各关节液压缸、各关节以及足端的位移和速度波动等重要参数,并进行分析。验证本文所做跳跃步态规划方法的有效性及正确性,为后续物理实验奠定基础。最后,搭建液压四足机器人物理样机实验台,设计进行机器人单腿跳跃实验,对得到的实验数据进行分析,验证机器人腿部结构设计的合理性及单腿跳跃步态规划的正确性。本文以实验室自主研制的液压四足机器人单腿模型为对象,对其进行跳跃步态规划,并利用MATLAB与ADAMS联合进行仿真分析,并对所设计的步态规划方法在物理样机上进行实验验证。通过仿真及实验来验证机器人单腿跳跃步态规划的有效性及合理性。
[Abstract]:Gait planning is the premise to realize the stable movement of hydraulic quadruped robot in complex environment, which affects the environment adaptability, stability, power consumption and dynamics of the robot. As a typical dynamic gait, jump gait is a typical dynamic gait. It is of great significance to improve the structure of the robot, improve the robot obstacle, environmental adaptability and so on. In this paper, the single leg of hydraulic quadruped robot designed and developed by the laboratory is used as the research platform, and the hopping gait planning is studied. First of all. The D-H method is used to solve and analyze the forward and inverse kinematics of the single leg of the hydraulic quadruped robot, and the kinematics model of the single leg of the hydraulic quadruped robot is established, and the relative kinematic relationship between the joints is studied. The Lagrangian function balance method is used to model the dynamics of the robot with one leg, and the relationship between the force and the motion of the robot is studied, which provides the theoretical basis for the subsequent joint simulation. Secondly, referring to the actual jumping situation of the animal. According to the theory of bionics, trajectory planning of single-legged jump gait of hydraulic quadruped robot developed by laboratory is carried out. Through motion analysis, trajectory planning and the transformation between joint space and drive space. The driving function of each joint hydraulic cylinder is deduced, and the robot jumping gait planning is completed. Furthermore, the joint simulation of jump gait with MATLAB and ADAMS is carried out. The important parameters such as displacement and velocity fluctuation of each joint hydraulic cylinder, joint and foot of the robot are obtained and analyzed, and the validity and correctness of the jump gait planning method are verified. Finally, build a hydraulic quadruped robot physical prototype test bench, design the robot single-leg jump experiment, and analyze the experimental data. To verify the rationality of leg structure design and the correctness of one-leg jumping gait planning, this paper takes the single leg model of hydraulic quadruped robot developed by laboratory as the object, and carries on the jump gait planning to it. MATLAB and ADAMS are used to simulate and analyze. The designed gait planning method is verified by experiments on the physical prototype, and the validity and rationality of the robot jumping gait planning are verified by simulation and experiment.
【学位授予单位】：哈尔滨理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【相似文献】