仿落猫着陆特性的四足机器人系统设计与动力学仿真

发布时间：2018-05-19 06:15

本文选题：仿落猫四足机器人 + 运动规划　；参考：《合肥工业大学》2017年硕士论文

【摘要】：在航天器着陆、火灾救援等方面,机器人高空降落的安全着陆问题是专业机器人领域亟待解决的关键问题之一。针对这一问题,本文从系统的角度出发对落猫安全着陆的整个过程进行了研究分析,设计出了一种仿落猫着陆特性的四足机器人,为四足机器人高空降落的安全着陆问题提供了可借鉴的解决方法,同时对四足机器人的后续研究与发展具有重要的指导意义。本课题来源于国家自然科学基金资助项目“仿落猫着陆特性的机器人任意姿态安全跌落机理及实现方法研究”,主要工作内容如下:1、基于凯恩的弯腰理论对落猫翻正的原理进行了研究,在此基础上,通过粒子群算法对机器人的自动翻正过程进行了运动规划并找到了其最优的运动轨迹。2、对机器人的软着陆过程进行了分析,给出了判定其着陆稳定性的条件并确定了不同因素对其着陆稳定性的影响,同时对主要的缓冲元件进行了设计与分析。3、建立了机器人的多体系统模型并对其进行了动力学仿真。仿真结果表明,该机器人满足设计及功能要求,同时为了提高机器人的着陆稳定性,应使着陆速度和地面倾角尽可能小,且接触类型应首选完全型。4、研制出了机器人的原型样机,并对其进行了悬挂实验。实验结果显示,在误差允许的范围内,该样机实现了其自动翻正。
[Abstract]:In the aspects of spacecraft landing, fire rescue and so on, the safe landing problem of robot landing at high altitude is one of the key problems to be solved urgently in the field of professional robot. In order to solve this problem, this paper studies and analyzes the whole process of landing safely from the point of view of the system, and designs a four-legged robot which simulates the landing characteristics of cats. The method can be used for reference to solve the problem of safe landing of quadruped robot in high altitude, and it has important guiding significance for the further research and development of quadruped robot. This topic comes from the project "Research on the Mechanism and realization method of the Robot's safe drop in any pose" funded by the National Natural Science Foundation of China, which is based on the landing characteristics of the simulated cat. The main work is as follows: 1. Based on Kane's stoop theory, the principle of cat-dropping forward is studied, and on this basis, Particle swarm optimization (PSO) algorithm is used to plan the motion of the robot and find its optimal trajectory. The soft landing process of the robot is analyzed. The conditions for determining the landing stability and the influence of different factors on the landing stability are given. At the same time, the main buffer elements are designed and analyzed, and the multi-body system model of the robot is established and the dynamic simulation is carried out. The simulation results show that the robot meets the requirements of design and function. In order to improve the landing stability of the robot, the landing speed and inclination angle should be as small as possible. The prototype of the robot was developed and the suspension experiment was carried out. The experimental results show that the prototype can turn forward automatically within the range of error.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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