新型串并混联四足步行机器人动力学问题研究

发布时间：2018-05-22 19:50

本文选题：四足机器人 + 混联机构　；参考：《郑州大学》2017年硕士论文

【摘要】：本课题提出一种具有混联腿部结构的新型四足机器人,引入张量分析理论和旋量理论,构建了该混联四足机器人对于广义输入的逆向协调方程。以整机的防滑性能作为优化指标,利用遗传算法进行了协调计算,并基于该协调方法求取了整机动力学。本课题还基于旋量理论和李群李代数方法结合张量分析方法提出了求解运动学的方法,为分析机构的运动学构建了新思路,具有一定的理论价值和指导意义。首先,对混联腿部机构进行了运动学分析,得到了腿部机构运动学反解模型以及正解求取方法,并对正解算法进行了验证。对四足机器人整机进行了运动学求解时直接利用坐标变换规则将整机运动学问题转化为了单腿运动学问题,简化了整机运动学求解过程。提出了单腿的动力利用率指标,利用遗传算法对单腿机构的关键结构参数进行了优化分析;针对单目标优化结果中存在的问题,引入加权综合指标作为适应度函数,并改变了单腿机构关键结构参数的组成,对单腿结构参数进行了进一步的优化。结果表明,改进的优化算法能够得到综合性能更加良好的优化结果。分别利用拉格朗日方法和牛顿欧拉与影响系数结合的方法对腿部机构进行了动力学求解。利用MATLAB对腿部机构运动学与动力学进行了计算,并利用ADAMS虚拟样机仿真软件,对单腿机构的运动学和动力学进行了仿真分析,得到结果与MATLAB计算结果一致,验证了样机的正确性及运动学与动力学建模的正确性,为进一步的运动及动力控制奠定了基础。最后,将四足机器人各支撑足端点受力作为机器人的广义输入,引入反对称张量构建了整机逆向协调方程,并拟定了机器人动载荷,以各支撑足端点受力与地面法线方向的夹角作为评价机器人防滑性能的指标,利用遗传算法对支反力进行了协调优化;基于牛顿欧拉方法和理论力学中相对运动的转换方程,求取了整机动载,并利用上述协调优化方法结合牛顿欧拉法求解了整机动力学;并求取了各足端点支反力与地面法线方向夹角的变化曲线,分析了整机运动中存在的问题,结合整机步态对该问题进行了分析。本课题的研究为该新型四足机器人的运动和动力控制奠定了基础,并且对于混联机构及混联构型四足机器人的运动及动力学研究具有一定的参考意义。
[Abstract]:In this paper, a new quadruped robot with hybrid leg structure is proposed. By introducing the Zhang Liang analysis theory and spinor theory, the inverse coordination equation for the generalized input of the hybrid quadruped robot is constructed. Taking the anti-skid performance of the whole machine as the optimization index, the coordination calculation is carried out by using genetic algorithm, and the dynamics of the whole machine is obtained based on the coordination method. Based on spinor theory, Li Qun lie algebra method and Zhang Liang analysis method, a new method for kinematics analysis is proposed, which has a certain theoretical value and guiding significance. Firstly, the kinematics analysis of the hybrid leg mechanism is carried out, and the inverse kinematic solution model and the forward solution method of the leg mechanism are obtained, and the forward solution algorithm is verified. In this paper, the kinematics problem of quadruped robot is transformed into a single leg kinematics problem by using coordinate transformation rules, which simplifies the whole kinematics solution process. The dynamic utilization ratio index of single leg is put forward, and the key structural parameters of single leg mechanism are optimized by genetic algorithm, and the weighted synthesis index is introduced as fitness function to solve the problems existing in the result of single objective optimization. The composition of the key structure parameters of the single leg mechanism is changed and the single leg structure parameters are further optimized. The results show that the improved optimization algorithm can obtain a better comprehensive performance optimization results. Lagrangian method and Newtonian Euler method combined with influence coefficient are used to solve the leg mechanism. The kinematics and dynamics of leg mechanism are calculated by MATLAB, and the kinematics and dynamics of single leg mechanism are simulated and analyzed by using ADAMS virtual prototype simulation software. The results are consistent with that of MATLAB. The correctness of the prototype and the modeling of kinematics and dynamics are verified, which lays a foundation for further motion and dynamic control. Finally, the forces at the endpoints of each supporting foot of the quadruped robot are taken as the generalized input of the robot, and the anti-symmetric Zhang Liang is introduced to construct the whole machine reverse coordination equation, and the dynamic load of the robot is worked out. The angle between the end force of the supporting foot and the normal direction of the ground is taken as the index to evaluate the anti-skid performance of the robot, and the coordinated optimization of the supporting reaction force is carried out by using the genetic algorithm, which is based on the Newtonian Euler method and the transformation equation of relative motion in the theoretical mechanics. The dynamic load of the whole machine is obtained, and the dynamics of the whole machine is solved by using the coordination optimization method and Newtonian Euler method, and the change curve of the angle between the reaction force of the foot end support and the normal direction of the ground is obtained, and the problems existing in the whole machine motion are analyzed. The problem is analyzed in combination with the gait of the whole machine. The research of this subject lays a foundation for the motion and dynamic control of the new quadruped robot, and has a certain reference significance for the study of the motion and dynamics of the hybrid mechanism and the hybrid configuration quadruped robot.
【学位授予单位】：郑州大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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