仿青蛙机器人跳跃之力学分析与轨迹优化
发布时间：2019-07-07 07:38
【摘要】：目前,移动机器人在社会生产活动中已经得到了广泛的应用。在松软和不平坦的地面上,相比传统的轮式机器人,具有高爆发力的仿青蛙机器人具有更好的移动性能。在仿青蛙机器人跳跃研究过程中,动态稳定控制问题是主要的挑战。本文针对该问题,根据实际作业需求,给仿青蛙机器人设计了不同的跳跃方案。基于遗传算法,对仿青蛙机器人跳跃过程的关节轨迹进行了优化,得到了仿青蛙机器人最佳的跳高和跳远控制策略。结合力学分析,得到了影响仿青蛙机器人跳跃性能的主要因素,建立了能满足在多种障碍下工作的仿青蛙机器人跳跃力学模型。本文从仿生学角度出发,选择具有优秀跳跃性能和合理运动结构的青蛙作为研究对象,建立了平面连杆机构仿青蛙机器人跳跃模型。在该模型的基础上,对仿青蛙机器人在起跳和腾空阶段的进行了运动学和动力学分析,研究了仿青蛙机器人在跳跃过程中各关节运动轨迹,质心速度,质心加速度和各关节扭矩之间的关系,建立了仿青蛙机器人在跳跃过程中各关节的动力学模型。根据仿青蛙机器人在实际作业中的障碍种类,提出了跳高和跳远两种跳跃方案。基于遗传算法,分析了不同起跳时间下仿青蛙机器人的跳跃性能,同时在最佳起跳时间下,分析了仿青蛙机器人跳高和跳远指标下的跳跃性能,得到了满足不同跳跃指标的各关节控制策略。结合Matlab仿真分析和已有的实验数据,验证了方案的正确性和可行性。结合矢量法和矩阵法分析可以简化仿青蛙机器人运动学的运算。基于平面力系推导得到的动力学方程结论,适用于任意空间坐标系下的机器人动力学分析。通过轨迹优化得到的各关节运动轨迹,结合逆动力学方程,解决了六关节仿青蛙机器人跳跃中动力学的强耦合和非线性分析难点。在优化后的关节运动轨迹中,通过控制影响跳跃性能的主要因素,可以使仿青蛙机器人在实际应用中跳的更高和更远。
文内图片：
图片说明：图1-5双臂柔性欠驱动模型
[Abstract]:At present, mobile robots have been widely used in social production activities. Compared with the traditional wheeled robot, the frog imitating robot with high explosive force has better mobile performance on the soft and uneven ground. In the research process of frog robot jump, dynamic stability control is the main challenge. In order to solve this problem, according to the actual operation requirements, different jump schemes are designed for frog imitating robots. Based on genetic algorithm, the joint trajectory of frog-like robot is optimized, and the optimal high jump and long jump control strategy of frog-like robot is obtained. Combined with mechanical analysis, the main factors affecting the jumping performance of frog-like robot are obtained, and the jumping mechanics model of frog-like robot which can meet the requirements of working under various obstacles is established. In this paper, from the point of view of bionics, the frog with excellent jumping performance and reasonable motion structure is selected as the research object, and the jump model of planar linkage mechanism imitating frog robot is established. On the basis of this model, the kinematic and dynamic analysis of frog imitating robot in take-off and take-off stage is carried out, and the relationship among joint motion trajectory, centroids velocity, centroids acceleration and joint torque during jump is studied, and the dynamic model of each joint in jumping process is established. According to the obstacle types of frog imitating robot in practical operation, two jumping schemes, high jump and long jump, are put forward. Based on genetic algorithm, the jumping performance of frog-like robot under different take-off time is analyzed. At the same time, under the optimal take-off time, the jump performance of frog-like robot under high jump and long jump index is analyzed, and the joint control strategies satisfying different jump indexes are obtained. Combined with Matlab simulation analysis and existing experimental data, the correctness and feasibility of the scheme are verified. The kinematic operation of frog imitating robot can be simplified by combining vector method and matrix method. Based on the conclusion of the dynamic equation derived from the plane force system, it is suitable for the dynamic analysis of the robot in any spatial coordinate system. Through the trajectory optimization of each joint trajectory, combined with the inverse dynamic equation, the difficulties of strong coupling and nonlinear analysis of dynamics in the jump of six-joint frog robot are solved. In the optimized joint trajectory, by controlling the main factors that affect the jump performance, the frog imitating robot can jump higher and farther in practical application.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2511376
文内图片：
图片说明：图1-5双臂柔性欠驱动模型
[Abstract]:At present, mobile robots have been widely used in social production activities. Compared with the traditional wheeled robot, the frog imitating robot with high explosive force has better mobile performance on the soft and uneven ground. In the research process of frog robot jump, dynamic stability control is the main challenge. In order to solve this problem, according to the actual operation requirements, different jump schemes are designed for frog imitating robots. Based on genetic algorithm, the joint trajectory of frog-like robot is optimized, and the optimal high jump and long jump control strategy of frog-like robot is obtained. Combined with mechanical analysis, the main factors affecting the jumping performance of frog-like robot are obtained, and the jumping mechanics model of frog-like robot which can meet the requirements of working under various obstacles is established. In this paper, from the point of view of bionics, the frog with excellent jumping performance and reasonable motion structure is selected as the research object, and the jump model of planar linkage mechanism imitating frog robot is established. On the basis of this model, the kinematic and dynamic analysis of frog imitating robot in take-off and take-off stage is carried out, and the relationship among joint motion trajectory, centroids velocity, centroids acceleration and joint torque during jump is studied, and the dynamic model of each joint in jumping process is established. According to the obstacle types of frog imitating robot in practical operation, two jumping schemes, high jump and long jump, are put forward. Based on genetic algorithm, the jumping performance of frog-like robot under different take-off time is analyzed. At the same time, under the optimal take-off time, the jump performance of frog-like robot under high jump and long jump index is analyzed, and the joint control strategies satisfying different jump indexes are obtained. Combined with Matlab simulation analysis and existing experimental data, the correctness and feasibility of the scheme are verified. The kinematic operation of frog imitating robot can be simplified by combining vector method and matrix method. Based on the conclusion of the dynamic equation derived from the plane force system, it is suitable for the dynamic analysis of the robot in any spatial coordinate system. Through the trajectory optimization of each joint trajectory, combined with the inverse dynamic equation, the difficulties of strong coupling and nonlinear analysis of dynamics in the jump of six-joint frog robot are solved. In the optimized joint trajectory, by controlling the main factors that affect the jump performance, the frog imitating robot can jump higher and farther in practical application.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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