基于人体仿生的机器人足踝部的设计与研究

发布时间：2018-06-02 13:24

本文选题：仿人机器人 + 仿生足踝部　；参考：《合肥工业大学》2017年硕士论文

【摘要】：足踝部是人体下肢行走过程中与地面直接接触的部分,不但承受着人体的重量,还能缓冲和吸收来自地面的冲击,推动人体稳定、柔顺的前进。为了使仿人机器人足踝部具有和人体足踝部相同的行走特性,本文从仿生学角度出发,参照了人体足踝部的基本结构,以及运动学和生物力学特征,设计一种具有两自由度柔性踝关节和足弓、足趾结构的仿生足踝部模型及其驱动模型,该模型将有助于仿人机器人稳定、柔顺、低功耗的行走。全文主要包括三个方面的主要内容:(1)通过对人体足踝部的解剖学结构和运动特征的研究,了解到足踝部在人体正常步行过程中起主要作用的结构,以及该结构的运动学和动力学特征,并按仿生学原理初步设计了仿人机器人足踝部模型和驱动模型,绘制出了结构简图。(2)结合人体足踝部的实际尺寸,在Pro/engineer中建立仿生足踝部的三维实体模型,再结合人体足踝部的运动学和动力学数据,在Pro/engineer的机构运动仿真模块中进行静态仿真,得到仿生足踝部模型中弹簧和阻尼器的参数,以及柔索驱动力的大小。(3)结合人体足踝部的足底压力,以及柔索驱动力,在ADAMS软件中,通过定义模型的密度、约束和力驱动,创建仿生足踝部的动力学模型。设置合理的仿真参数对该模型进行动力学仿真,并将主要结构的仿真结果与实验数据进行对比分析,验证模型的可行性。通过动力学仿真结果与实验数据的对比可以看出,仿生足踝部模型在仿人机器人行走的支撑相中,能够比较精确的模仿人体足踝部的运动特征,弹簧和阻尼器的添加也改善了仿生足踝部的柔性。仿生足踝部模型通过对人体足踝部的仿生,解决了仿人机器人下肢行走不稳定性和柔顺性的问题,降低了机器人行走的能量消耗,为仿人机器人足踝部的设计研究提供了一种新的思路。
[Abstract]:Foot and ankle is a part of human lower limb walking in direct contact with the ground, not only bear the weight of the human body, but also buffer and absorb the impact from the ground, promote the human body to move forward steadily and meekly. In order to make the humanoid robot have the same walking characteristics as the human feet and malleolus, the basic structure, kinematics and biomechanical characteristics of the human ankles are referred to in this paper from the biomimetic point of view. A bionic ankle model with two degrees of freedom flexible ankle, arch and toe structure and its driving model are designed. The model will be helpful for the humanoid robot to walk stably, smoothly and with low power consumption. The full text mainly includes three aspects: (1) by studying the anatomical structure and movement characteristics of the human foot and ankle, we have learned about the structure of the ankle that plays a major role in the normal walking process of the human body. And the kinematics and dynamics characteristics of the structure. According to the principle of bionics, the model and driving model of humanoid robot foot and ankle are designed, and the structure schematic diagram is drawn, which combines the actual size of human foot and ankle. The three-dimensional solid model of biomimetic ankle and foot is established in Pro/engineer, and the parameters of spring and damper in the model of bionic foot and ankle are obtained by static simulation in the mechanism motion simulation module of Pro/engineer combined with kinematics and dynamics data of human foot and ankle. In ADAMS software, the dynamic model of biomimetic ankle is established by defining the density, constraint and force drive of the model. The dynamic simulation of the model is carried out by setting reasonable simulation parameters, and the simulation results of the main structures are compared with the experimental data to verify the feasibility of the model. By comparing the dynamic simulation results with the experimental data, it can be seen that the biomimetic ankle model in the walking phase of the humanoid robot, can more accurately imitate the movement characteristics of the human foot and ankle. The addition of springs and dampers also improves the flexibility of the bionic ankle. The biomimetic model of ankle and foot solves the problem of instability and compliance of walking in the lower extremities of humanoid robot, and reduces the energy consumption of walking of robot. It provides a new idea for the design and research of humanoid robot foot and ankle.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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