仿蛙弹跳机器人运动学仿真及落地碰撞过程分析

发布时间：2018-06-08 22:42

本文选题：弹跳机理 + 仿蛙弹跳机器人　；参考：《浙江理工大学》2017年硕士论文

【摘要】：近20年以来,仿生机器人研究是一个十分活跃的领域。具有生物体特征和机械结构优点的仿生四足机器人因移动范围广、稳定性好、承载能力强等优良的移动性能以能够在条件恶劣、环境复杂等未知环境及非结构化环境下代替人们完成工作任务,因此仿生四足弹跳机器人成为仿生机器人领域的研究热点。本文以具有爆发性强、弹跳性能高和灵活性好等优点的青蛙为仿生对象,在分析仿生弹跳机构工作原理及发展现状和青蛙弹跳运动机理的基础上建立仿青蛙弹跳机器人的虚拟样机模型并进行仿真分析,为机器人后续研究提供理论基础,其主要内容概括如下:在综合分析青蛙弹跳机理的基础上,建立线性和非线性机器人后肢弹跳腿模型并进行研究分析;然后建立机器人的结构示意图并进行自由度分析,运用D-H理论分析了机器人准备起跳阶段运动学特性。利用Pro/E和ADAMS建立机器人虚拟样机模型并进行运动学仿真,得到了ADAMS仿真环境下机器人的弹跳位姿、躯干质心的运动曲线、驱动关节角曲线和机器人四肢与地面接触力的变化曲线,并与青蛙弹跳位姿及弹跳过程四肢接触力的变化进行对比分析,验证虚拟样机模型的合理性。基于Hertz弹性碰撞理论建立机器人落地过程时法向接触力模型,并通过ADAMS进行仿真,得到了机器人落地时前肢与地面碰撞过程时法向碰撞力的变化规律;进而分析了前肢小腿材料、前肢与地面的接触力参数等因素对机器人弹跳性能、碰撞过程特性的影响。针对前肢小腿刚性模型落地瞬间碰撞力较大的情况,建立前肢弹簧腿模型并研究其参数对机器人弹跳性能和碰撞过程特性的影响,并将优选出接触力刚度系数为9N/mm、阻尼系数为1 N?s/mm的弹簧腿模型与刚性模型进行分析对比,并得出二者不同的运动特性。
[Abstract]:In recent 20 years, the research of bionic robot is a very active field. The bionic quadruped robot with the advantages of biological characteristics and mechanical structure has the advantages of wide range of movement, good stability, strong bearing capacity and so on, so that it can be used in bad conditions. Because of the complex environment and unstructured environment, the bionic quadruped jumping robot becomes the research hotspot in the field of bionic robot. In this paper, the frog with strong explosiveness, high bouncing performance and good flexibility is taken as the bionic object. Based on the analysis of the working principle and development status of the bionic jumping mechanism and the mechanism of frog bouncing motion, the virtual prototype model of the frog bouncing robot is established and the simulation analysis is carried out, which provides a theoretical basis for the follow-up research of the robot. The main contents are summarized as follows: on the basis of synthetically analyzing the jumping mechanism of frogs, the model of jumping legs of the hind limbs of linear and nonlinear robots is established and analyzed, and then the structure diagram of the robot is established and the degree of freedom is analyzed. The kinematics characteristics of the ready take-off stage of the robot are analyzed by using D-H theory. The virtual prototype model of robot is established by using Prop / E and Adams, and the kinematics simulation is carried out. The jumping posture and the motion curve of the trunk centroid are obtained in Adams simulation environment. The angle curve of driving joint and the change curve of contact force between limbs and ground of robot are compared with the jumping position of frog and the change of contact force of four limbs during spring jump. The rationality of the virtual prototype model is verified by comparing and analyzing the curve of driving joint angle and the change of contact force between limbs and ground of robot. Based on the Hertz elastic collision theory, the normal contact force model of robot landing was established, and the law of normal collision force was obtained by Adams simulation. Furthermore, the effects of the material of the foreleg and the contact force between the forelimb and the ground on the jumping performance and collision process of the robot are analyzed. In view of the large impact force of the rigid model of forelimb and leg, the spring leg model of forelimb is established and the influence of its parameters on the bouncing performance and impact process of robot is studied. A spring leg model with a contact stiffness coefficient of 9N / mm and a damping coefficient of 1Ns / mm is selected and compared with the rigid model, and their different kinematic characteristics are obtained.
【学位授予单位】：浙江理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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