四足机器人轨迹规划与运动学仿真分析
发布时间：2018-11-16 09:27
【摘要】：随着科学技术的进步和社会的发展需要,机器人产业得到了迅猛的发展,机器人技术也在工业生产以及社会生活中得以广泛应用。而足式机器人特别是四足机器人已经成为国内外科学家研究的热点。本次设计参考了许多不同的设计方案,结合现有实验室的试验条件后,从两种各具优缺点四足机器人机构设计方案中确定了一种具备12自由度的结构模型。第二步对四足机器人KXRR进行了稳定性分析、运动学分析包含了建立四足机器人KXRR足部末端在空间坐标系中的方程式,完成了运动学的正解和逆解,第三步利用三次多项式法进行插值点选取和确定,从而进行了轨迹的优化设计,最终完成轨迹规划工作和步态分析工作。接下来使用新颖的SolidWorks2013软件进行了机器人三维模型的建立,然后对四足机器人KXRR在运动的过程用ADAMS2012进行了仿真,通过仿真得到关于四足机器人KXRR运动学数据诸如速度、加速度、位移进行了运动学仿真分析。在本次设计中,利用了三次多项式法来求取插值点,在一定程度上解决了在传统的插值方法中求出的相邻插值点之间的距离不会保持一致的问题,且相邻插值点间的距离受所设计的轨迹曲线曲率影响较小,从而使四足机器人在一些陡峭复杂的地形中运动时能够保持稳定,通过仿真分析,获得一系列重要的实验数据,也验证了本次设计方案的合理性,为后续的研究提供了有价值的实验数据。
[Abstract]:With the development of science and technology and the development of society, the robot industry has been developed rapidly, and robot technology has been widely used in industrial production and social life. And the foot robot, especially the quadruped robot, has become the research hotspot of scientists at home and abroad. After referring to many different design schemes and combining the experimental conditions of the existing laboratory, a structural model with 12 degrees of freedom is determined from the design schemes of two kinds of four-legged robot mechanisms with advantages and disadvantages. In the second step, the stability of the quadruped robot KXRR is analyzed. The kinematics analysis includes the establishment of the equations at the end of the quadruped robot's KXRR foot in the space coordinate system, and the positive and inverse solutions of the kinematics are completed. In the third step, the cubic polynomial method is used to select and determine the interpolation points, so that the trajectory is optimized and the trajectory planning and gait analysis are completed. Then the 3D model of the quadruped robot is built by using the novel SolidWorks2013 software, and then the KXRR of the quadruped robot is simulated with ADAMS2012. Through the simulation, the kinematics data such as velocity and acceleration of the quadruped robot are obtained, such as velocity and acceleration. The displacement is analyzed by kinematics simulation. In this design, the cubic polynomial method is used to obtain the interpolation points, which to some extent solves the problem that the distance between the adjacent interpolation points obtained in the traditional interpolation method is not consistent. The distance between the adjacent interpolation points is less affected by the curvature of the trajectory curve, so that the quadruped robot can maintain stability in some steep and complex terrain. Through simulation analysis, a series of important experimental data are obtained. It also verifies the rationality of the design scheme and provides valuable experimental data for further research.
【学位授予单位】：华北水利水电大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
[Abstract]:With the development of science and technology and the development of society, the robot industry has been developed rapidly, and robot technology has been widely used in industrial production and social life. And the foot robot, especially the quadruped robot, has become the research hotspot of scientists at home and abroad. After referring to many different design schemes and combining the experimental conditions of the existing laboratory, a structural model with 12 degrees of freedom is determined from the design schemes of two kinds of four-legged robot mechanisms with advantages and disadvantages. In the second step, the stability of the quadruped robot KXRR is analyzed. The kinematics analysis includes the establishment of the equations at the end of the quadruped robot's KXRR foot in the space coordinate system, and the positive and inverse solutions of the kinematics are completed. In the third step, the cubic polynomial method is used to select and determine the interpolation points, so that the trajectory is optimized and the trajectory planning and gait analysis are completed. Then the 3D model of the quadruped robot is built by using the novel SolidWorks2013 software, and then the KXRR of the quadruped robot is simulated with ADAMS2012. Through the simulation, the kinematics data such as velocity and acceleration of the quadruped robot are obtained, such as velocity and acceleration. The displacement is analyzed by kinematics simulation. In this design, the cubic polynomial method is used to obtain the interpolation points, which to some extent solves the problem that the distance between the adjacent interpolation points obtained in the traditional interpolation method is not consistent. The distance between the adjacent interpolation points is less affected by the curvature of the trajectory curve, so that the quadruped robot can maintain stability in some steep and complex terrain. Through simulation analysis, a series of important experimental data are obtained. It also verifies the rationality of the design scheme and provides valuable experimental data for further research.
【学位授予单位】：华北水利水电大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
【参考文献】
相关期刊论文 前10条
1 王新杰;黄涛;陈鹿民;;四足步行机器人爬行步态的计算机仿真[J];计算机仿真;2007年04期
2 武秋俊;王建军;;四足步行机器人稳定性研究综述[J];机械工程师;2007年04期
3 Carlo Menon;Metin Sitti;;A Biomimetic Climbing Robot Based on the Gecko[J];Journal of Bionics Engineering;2006年03期
4 樊炳辉;曾庆良;车翠莲;江浩;;基于ADAMS的移动机器人仿真[J];中国制造业信息化;2006年09期
5 刘静;赵晓光;谭民;;腿式机器人的研究综述[J];机器人;2006年01期
6 赵杰,郭亮,臧希U，
本文编号：2335138
本文链接：https://www.wllwen.com/kejilunwen/zidonghuakongzhilunwen/2335138.html
