仿人机器人的设计与研究

发布时间：2018-06-19 07:45

本文选题：仿人机器人 + 步态规划　；参考：《青岛科技大学》2017年硕士论文

【摘要】：仿人机器人是一种依据人类外形结构设计的机器,是集计算机技术、微电子技术、机械设计技术、传感及控制技术于一身的机电一体化产品,它主要由主体结构、动力部分、传感部分、驱动部分、执行部分、控制及信息部分组成。本课题完成了一个仿人机器人各个组成部分的设计,并对其进行了步态规划和力学分析的研究。具体研究工作主要包括以下几个方面:首先,通过研究人体的相关结构尺寸和各关节运动特征,选取仿人机器人的机构形式,确定机器人的自由度配置、机械结构和尺寸;对所设计的仿人机器人进行了运动学建模和分析,采用广义坐标法,在其前向和侧向分别建立了运动学模型,并进行正逆运动学求解。其次,以ZMP(零力矩点)作为稳定判据,对机器人行走时应满足的约束条件进行了分析,并采用基于三次样条函数的三点式规划法进行步态规划,将步态数据导入ADAMS中进行仿真,仿真结果证明了本文所采用的规划方法可以实现仿人机器人的稳定动态步行。之后,根据虚拟样机仿真结果,可以获得大腿、小腿、大臂的约束条件和踝关节U型部件的受力状况,通过对大腿、小腿和大臂进行模态分析,以及对踝关节U型部件进行应力分析提出了结构的合理改进方案。最后,设计了机器人的控制系统。为增强仿人机器人的可扩展性,控制系统采用了功能强大的Cortex-M4核心,依次完成机器人动力部分、传感部分、驱动部分、执行部分、控制及信息部分以及上位机软件的设计,再将各基本功能模块整合为一体化的仿人机器人;同时通过上位机软件,能轻松实现机器人动作编程。
[Abstract]:Humanoid robot is a kind of machine designed according to human shape structure. It is a mechanical and electrical integration product with computer technology, microelectronic technology, mechanical design technology, sensing and control technology. It mainly consists of the main body structure, the dynamic part, the sensing part, the driving part, the actuation part, the control and the information part. The design of each component of a humanoid robot is designed, and its gait planning and mechanical analysis are studied. The main research work includes the following aspects: first, by studying the relative structure size and the motion characteristics of the joints, the mechanism of the humanoid robot is selected to determine the freedom degree configuration of the robot. The kinematic modeling and analysis of the designed humanoid robot are carried out, and the kinematic model of the forward and lateral kinematics is established by using the generalized coordinate method, and the inverse kinematics is solved. Secondly, the ZMP (zero moment point) is used as the stability criterion to analyze the constraints that the robot should meet when walking. The gait planning is carried out by the three point programming method based on the three spline function. The gait data is introduced into the ADAMS for simulation. The simulation results show that the planning method used in this paper can realize the stable and dynamic walking of the humanoid robot. After the simulation results of the virtual prototype, the constraints of the thighs, the legs and the large arms can be obtained. And the stress status of the U type parts of the ankle joint, through the modal analysis of the thigh, the leg and the big arm, and the stress analysis of the U type parts of the ankle joint, the rational improvement scheme of the structure is put forward. Finally, the control system of the robot is designed. In order to enhance the extensible ability of the humanoid robot, the control system uses a powerful Cortex-M4. At the core, the dynamic part of the robot, the sensing part, the driving part, the actuation part, the control and information part and the upper computer software are designed, and the basic functional modules are integrated into the integrated humanoid robot, and the robot action programming can be easily realized through the upper computer software.
【学位授予单位】：青岛科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【参考文献】