仿猎豹四足机器人结构设计与足端轨迹规划研究

发布时间：2018-03-13 07:13

本文选题：四足机器人　切入点：腿结构　出处：《山东大学》2017年硕士论文　论文类型：学位论文

【摘要】：面向奔跑的四足机器人研究成为近年四足机器人研究的热点之一。刚性的四足机器人存在奔跑速度慢,运动稳定性和协调性不足等缺点。对四足机器人进行腿结构和脊椎的柔性设计可提高其运动性能。本文仿生动物猎豹,对面向奔跑的四足机器人进行了柔性结构设计和足端轨迹规划研究。主要内容如下:(1)基于对猎豹后腿骨骼-肌肉结构特性的分析,设计了具有缓冲性能的腿结构。通过对猎豹脊椎结构和在奔跑时脊椎形态变化的分析,设计了一种结构简单并能够实现上下弯曲的柔性脊椎结构。设计了以液压缸作为驱动机构的仿猎豹四足机器人,该四足机器人具有缓冲腿结构和柔性脊椎。(2)对仿猎豹四足机器人进行了详细的运动学分析和动力学分析,推导出了关节转角的表达式。根据液压缸布置形式及与各构件间的位置关系,求出了髋关节液压缸和膝关节液压缸长度与关节转角之间的函数关系。(3)基于对猎豹在奔跑时足端的运动轨迹存在回缩和后摆现象的分析,提出了两种适合奔跑的足端轨迹:一是改进的椭圆足端轨迹,二是修正摆线足端轨迹。基于bound步态的运动特点,详细地推导了两种足端轨迹的函数表达式。(4)将设计的两种足端轨迹应用于本文的仿猎豹四足机器人,并进行了仿真分析。仿真结果表明,两种足端轨迹均能使机器人实现稳定的bound步态运动。通过对比分析,修正摆线足端轨迹更适合奔跑运动。
[Abstract]:The research of running oriented quadruped robot has become one of the hotspots in recent years. The rigid quadruped robot has slow running speed. Motion stability and coordination are not enough. The flexible design of leg structure and spine of quadruped robot can improve its motion performance. In this paper, a bionic cheetah, a bionic cheetah, The flexible structure design and foot trajectory planning of running oriented quadruped robot are studied. The main contents are as follows: 1) based on the analysis of cheetah hind leg skeletal-muscle structure characteristics. By analyzing the structure of the cheetah's spine and the changes of the spine morphology during running, a leg structure with cushioning performance was designed. A flexible spine structure with simple structure and the ability to bend up and down is designed, and a cheetah quadruped robot with hydraulic cylinder as driving mechanism is designed. The four-legged robot has a cushioning leg structure and a flexible spine. The kinematics and dynamics of a cheetah quadruped robot are analyzed in detail. The expression of joint angle is derived. According to the form of hydraulic cylinder arrangement and the position relation between the hydraulic cylinder and the components, The functional relationship between the length of the hydraulic cylinder of the hip joint and the hydraulic cylinder length of the knee joint and the angle of the joint is obtained. Based on the analysis of the retraction and backswing of the cheetah's foot trajectory when it is running, the relationship between the length of the hydraulic cylinder of the hip and the angle of the joint is obtained. Two kinds of foot trajectory suitable for running are proposed: one is the improved elliptical trajectory, the other is the modified cycloidal trajectory. Based on the characteristics of bound gait motion, The functional expression of two foot trajectories is derived in detail. The designed two foot trajectories are applied to the cheetah quadruped robot in this paper, and the simulation results show that, The two kinds of foot trajectory can make the robot realize stable bound gait motion. Through comparison and analysis, the modified cycloidal foot trajectory is more suitable for running motion.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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