仿人服务机器人设计与开发

发布时间：2018-06-25 04:52

本文选题：仿人服务机器人 + 结构设计　；参考：《广东工业大学》2017年硕士论文

【摘要】：仿人服务机器人是指其外表与人类相似,并可以进行简单的人类行为的机器人。在国内外机器人大潮里,仿人服务机器人作为服务机器人的一种,具有较大的研究与应用价值。与传统的工业机器人相比,其具有提高生活质量,减少服务类工作岗位和能与人进行沟通等优点。因此仿人服务机器人有望在实际生活中得到大量应用,从而服务于人类与社会。但就国内外的研究现状而言,关于仿人服务机器人的研究缺乏成本的控制,往往导致成本过高,以及所设计的机器人仿真度不高,完整的仿人服务机器人设计与控制相对较少。因此,本文针对以上国内外的研究不足之处,研发了一款具有极具有性价比的高仿真度仿人服务机器人,所设计的软硬件系统满足基本满足完成简单的人类行为。本文根据人体骨骼构造形式,对仿人服务机器人进行了机械结构的设计,然后对机械手臂进行运动学的分析,并对软硬件系统进行设计与搭建,最后对整个样机进行调试控制。主要内容包括:(1)分析著名的恐怖谷理论以及人体骨骼构造形式,对仿人服务机器人的机械本体进行设计。本体设计中主要包括三大部分:头部、双手臂、躯干。仿人服务机器人的头部具有五自由度,分别可以实现眨眼、转眼珠、嘴巴开合、转头、头部俯仰。仿人服务机器人的单只手臂具有六自由度,可以基本实现人类绝大部分的手臂肢体语言。躯干部分包括弯腰自由度和稳固的底座。(2)根据前面设计的机械手臂进行运动学分析。机器人手臂是通过串联而成的六轴机械臂,具有一般的工业机械臂特性。根据机械臂的设计,建立了D-H参数,然后推导了机械臂的正运动学,最后基于蒙特卡洛算法求出机械手臂的工作空间。(3)根据Modbus通信协议,设计了机器人软硬件平台。软件主要分为两部分:上位机与下位机STM32控制程序。上位机可以通过向下位机发送命令指令从而控制仿人服务机器人完成相应的控制。硬件主要是搭建了整个系统的硬件系统。(4)根据整个仿人服务机器人系统,进行了初步的调试。通过调试,可以看到该机器人可以基本完成相应的功能。从而证明了机器人的本体与软硬件系统的可行性。
[Abstract]:Humanoid service robot is a robot whose appearance is similar to that of human and can perform simple human behavior. As a kind of service robot, humanoid service robot has great research and application value in the tide of robot at home and abroad. Compared with the traditional industrial robots, it has the advantages of improving the quality of life, reducing the number of service jobs and communicating with people. Therefore, humanoid service robot is expected to be widely used in real life and serve human and society. However, the research on humanoid service robot is lack of cost control, which often leads to the high cost, the imitating degree of the designed robot is not high, and the complete humanoid service robot design and control is relatively less. Therefore, aiming at the deficiency of the research at home and abroad, this paper develops a kind of high performance and cost effective humanoid service robot. The software and hardware system is designed to meet the basic requirements of simple human behavior. In this paper, the mechanical structure of humanoid service robot is designed according to the structure of human skeleton, then the kinematics of the robot arm is analyzed, and the hardware and software system is designed and built. Finally, the whole prototype is debugged and controlled. The main contents are as follows: (1) analyzing the famous theory of Horror Valley and the form of human skeleton, the mechanical body of humanoid service robot is designed. The main body design includes three parts: head, double arms and torso. The head of humanoid service robot has five degrees of freedom. It can blink, turn eyes, open mouth, turn head and pitch head. The single arm of humanoid service robot has six degrees of freedom, which can basically realize the majority of human arm body language. The torso consists of a bending degree of freedom and a solid base. (2) Kinematic analysis is carried out according to the mechanical arm designed in front. Robot arm is a six-axis manipulator which is composed of series. It has general characteristics of industrial manipulator. According to the design of the manipulator, the D-H parameters are established, and then the forward kinematics of the manipulator is deduced. Finally, the workspace of the manipulator is calculated based on Monte Carlo algorithm. (3) according to Modbus communication protocol, the robot hardware and software platform is designed. The software is mainly divided into two parts: upper computer and lower computer STM 32 control program. The upper computer can control the humanoid service robot by sending command instructions to the down bit machine. The hardware is mainly built up the hardware system of the whole system. (4) according to the whole humanoid service robot system, the preliminary debugging is carried out. Through debugging, we can see that the robot can basically complete the corresponding functions. Thus, the feasibility of the robot body and software and hardware system is proved.
【学位授予单位】：广东工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【参考文献】