仿青蛙变体移动机器人的设计与实验

发布时间：2018-06-05 18:49

本文选题：仿生机器人 + 变体机构　；参考：《北方工业大学》2017年硕士论文

【摘要】：近年来,仿生机器人一直是前沿领域研究的热点。为了深入探索复杂的不可预测的环境,就有必要利用移动能力和环境适应能力强的机器人来代替人类执行任务。青蛙爆发性强,可以轻松越过障碍物或沟渠,并且水陆两栖的生物特性使其具备了超越很多生物的环境适应能力。因此本文基于对青蛙优异的两栖运动能力的研究,设计了一种可以实现陆地跳跃模式和水中蛙泳模式转换的双模式仿青蛙变体移动机器人设计。首先,设计适用于机器人两栖运动模式的跳跃执行机构、触发机构、复位机构、变体机构等可行有效的机构方案,并对其进行详细的论证与计算,使整体方案具备较好的可行性。然后,建立各构件的实体模型,在Pro/E中通过虚拟装配对设计方案进一步改进和优化;建立跳跃执行机构的运动学方程,通过MATLAB仿真出蛙腿的跳跃轨迹;对机器人整体模型进行运动学分析与仿真,模拟仿青蛙变体移动机器人循环周期的运动状态,检验质心运动轨迹。接着,基于ANSYS有限元分析方法,对仿青蛙变体移动机器人重要部件进行有限元分析获得光轴的位移、应力、应变云图,对机器人柔性脚通过模态分析,避免固有频率与机器人工作频率相近而产生的共振,在减少冲击的同时,还能储存能量,用于下一个运动周期。最后,基于机器人跳跃执行机构的几何形状、内部自由度数以及腿部与机器人躯干的连接关系,将机器人模型简化为由小腿、大腿和躯干组成的动力学模型,建立了机器人的运动学模型和Lagrange动力学模型,并对模型进行仿真验证。仿真结果证明机器人质心的运动轨迹和各关节角的变化轨迹与生物青蛙的实际运动情况相一致,同时也验证了所建立的机器人机构数学模型的正确性。
[Abstract]:In recent years, bionic robot has been a hot research field. In order to explore the complex and unpredictable environment, it is necessary to use robots with strong mobility and adaptability to environment to perform tasks instead of human beings. Frogs are explosive enough to easily cross obstacles or ditches, and their amphibious biological properties enable them to adapt to the environment beyond many organisms. Therefore, based on the research of frog's excellent amphibious movement ability, this paper designs a dual-mode frog mimic mobile robot which can realize the conversion between land jumping mode and breaststroke mode in water. First of all, a feasible and effective mechanism scheme, such as jumping actuator, trigger mechanism, reset mechanism, variant mechanism and so on, is designed for the amphibious motion mode of robot, and it is demonstrated and calculated in detail. So that the overall scheme has a better feasibility. Then, the entity model of each component is established, the design scheme is further improved and optimized by virtual assembly in Pro/E, the kinematics equation of jumping actuator is established, and the jumping track of frog leg is simulated by MATLAB. The kinematics analysis and simulation of the whole robot model are carried out to simulate the movement state of the cycle of the frog-like mobile robot and to check the trajectory of the centroid motion. Then, based on the ANSYS finite element analysis method, the important parts of the frog mobile robot are analyzed by finite element method to obtain the displacement, stress and strain cloud diagram of the optical axis, and the modal analysis of the flexible feet of the robot. In order to avoid resonance between the natural frequency and the operating frequency of the robot, the energy can be stored for the next motion cycle while reducing the impact. Finally, based on the geometry, the number of degrees of freedom and the connection between the legs and the robot torso, the robot model is simplified to a dynamic model consisting of the calf, thigh and torso. The kinematics model and Lagrange dynamics model of the robot are established, and the simulation results of the model are verified. The simulation results show that the trajectory of the robot centroid and the change of the joint angle are consistent with the actual motion of the biological frog, and the correctness of the mathematical model of the robot mechanism is also verified.
【学位授予单位】：北方工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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