某跳跃机器人的整体结构及其控制模块分析

发布时间：2018-03-07 04:19

本文选题：袋鼠　切入点：跳跃机器人　出处：《南京理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：跳跃机器人是一种具有运动速度快、运动能耗低、环境适应性强、越障能力强等多项优点的特殊机器人。因此,跳跃机器人在军事侦察、搜救活动、星际探索等诸多领域具有广泛的应用前景。本文通过对仿生机器人及跳跃机器人发展现状进行比较分析,结合袋鼠生命体的运动原理,设计了一款仿袋鼠式跳跃机器人,并从其整体结构及其控制模块两个方面进行设计,着重对其伺服电机控制系统进行研究。针对跳跃机器人整体结构设计,首先,对袋鼠生物系统的运动原理及运动机构进行解析;然后,依据袋鼠生物特性,对跳跃机器人机身的功能要求和技术指标进行分析;最后,结合机械原理及生物学等相关知识,对机身整体结构进行总体设计。针对跳跃机器人控制模块设计,首先,从姿态检测出发,依据动力学仿真结果,对跳跃机器人各部件姿态数据进行分析,并根据各部件姿态变化特性,选择姿态检测方式;然后,采用高度检测、角度检测等方式,对其各部件进行姿态检测,依据理论数据,对其姿态检测方式的可行性进行分析;接着,基于姿态检测分析结果,结合动力学仿真数据,分析姿态控制目标,设计姿态控制实现方式;最后,依据姿态控制理论分析数据,证明其可行性。另外,在各章结尾设计了姿态检测及姿态控制的软硬件方案。论文还针对跳跃姿态检测及控制完成了部分实验,包括对单次跳跃姿态检测及控制中的角度检测和高度检测两方面进行实物测实验证、对连续跳跃姿态控制系统进行软件仿真及实物运行验证、针对未来应用需求设计的目标识别验证实验。该研究对跳跃机器人测控系统设计具有一定的参考价值。
[Abstract]:Jumping robot is a kind of fast motion, low energy consumption, environmental adaptability, special robot ability and other advantages. Therefore, jumping robot in military reconnaissance, search and rescue activities, and has wide application prospect in many fields such as space exploration. Through a comparative analysis of the current situation of the development of bionic robot robot and jump. The movement principle with the life of the kangaroo, designed a kangaroo hopping robot, and carries on the design from the two aspects of the overall structure and control module, this paper focuses on the study on the servo motor control system. The hopping robot overall structure design, firstly, motion principle and motion mechanism of kangaroo biological systems analysis; then, based on the biological characteristics of kangaroo, functional and technical requirements of jumping robot fuselage were analyzed; finally, combined with the mechanical principle and Related knowledge learning, the overall design of the overall structure of the fuselage. The control module is designed for jumping robot first, starting from the attitude detection, according to the simulation results, the jumping robot components of attitude data are analyzed, and according to the attitude change characteristic of the parts, then choose attitude detection method; using height detection, angle detection so, for attitude detection of components, based on the theory of data, analyses the feasibility of the attitude detection method; then, based on the analysis results of attitude detection, combined with dynamic simulation data analysis, attitude control, attitude control design and implementation; finally, based on the theory of data analysis of attitude control, proves its feasibility. In addition, at the end of each chapter designed the posture detection and attitude control of hardware and software solutions. The part of the experiment the attitude measurement and control of jump, Including the single jump two posture detection and control of angle detection and height detection physical test shows, the software simulation and verification of the physical operation of continuous jump attitude control system, target identification and verification experiments for future application needs design. This study has a certain reference value for the design of measurement and control system. The robot jump

【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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