足式机器人小腿主被动联合减振研究与实现

发布时间：2018-11-07 13:13

【摘要】：仿生物结构的足式机器人拥有许多潜在的应用价值,在机器人研究领域占据重要的地位。但是足式机器人在行走过程中,因地面反作用力的冲击,整个身体会产生自下而上的振动。过大的振动会严重影响机器人上身平台搭载设备的正常工作,同时也将限制机器人的行走速度。因此研究足式机器人小腿平台的减振技术,缓冲或抑制地面的冲击对机器人上身平台造成的振动影响具有重要的意义。目前广泛采用的被动减振技术对低频振动的抑制效果无法满足实际应用的需求,因此,本文结合主动减振适用于中低频段振动抑制的特点,将基于音圈电机作动器的主动减振技术应用到足式机器人小腿减振过程中,为抑制冲击并衰减机器人上身平台的振动提出一种主被动联合减振的新方法。首先,分析了减振小腿的工作特性并设计了带摩擦力模型的减振小腿模型,同时建立了音圈电机作动器的数学模型。构建了以上身平台振动加速度和下平台位置为反馈信号的主被动联合减振控制系统,采用不同形式的冲击信号对被动减振和主被动联合减振下的系统振动抑制能力及抗干扰能力进行了分析。其次,通过ADAMS建立了带摩擦力扰动的虚拟样机模型对减振小腿平台的振动抑制能力进行优化。设计了 ADAMS与MATLAB联合仿真下的音圈电机模型,以上身平台振动加速度为控制目标,进行了主动减振控制算法的研究。然后,设计了减振小腿平台的控制软件系统,采用了模块化程序设计方法在CCS6.0中完成了控制系统软件的设计与编写。最后,基于减振小腿平台及硬件控制系统,进行了被动减振实验,同时分别采用PID控制器和自抗扰控制器进行了主被动联合减振的实验研究。实验结果表明,基于自抗扰控制的减振小腿平台的主被动联合减振在提高了减振小腿平台的振动抑制能力,增强了减振小腿平台的抗干扰能力,为机器人行走优化提供了一种新方法。
[Abstract]:Biomimetic foot robot has many potential applications and plays an important role in the field of robot research. But during walking, the whole body will vibrate from bottom to top because of the impact of ground reaction. Excessive vibration will seriously affect the normal operation of the robot's upper platform equipment, and will also limit the robot's walking speed. Therefore, it is of great significance to study the vibration reduction technology of the leg platform of the foot robot, to buffer or suppress the impact of the ground on the vibration of the platform of the upper body of the robot. At present, the passive vibration reduction technology widely used can not meet the needs of practical application. Therefore, this paper combines the characteristics of active vibration reduction in low and medium frequency band vibration suppression. The active vibration reduction technology based on the voice coil motor actuator is applied to the leg vibration reduction of the foot robot. A new method of active and passive joint vibration reduction is proposed to suppress the shock and attenuate the vibration of the robot's upper body platform. Firstly, the working characteristics of the shank are analyzed, and the model of the shank with friction model is designed, and the mathematical model of the motor actuator is established. Based on the vibration acceleration of the upper platform and the position of the lower platform as the feedback signal, the combined active and passive vibration control system is constructed. The vibration suppression ability and anti-interference ability of the system under passive and combined active and passive damping are analyzed by using different shock signals. Secondly, a virtual prototype model with friction disturbance is established by ADAMS to optimize the vibration suppression ability of the shank platform. The sound coil motor model under the joint simulation of ADAMS and MATLAB is designed. The vibration acceleration of the platform is the control target. The active vibration control algorithm is studied. Then, the control software system of the shank platform is designed, and the software of the control system is designed and written in CCS6.0 by using the modular programming method. Finally, based on the platform of shank and hardware control system, the passive vibration reduction experiment is carried out. At the same time, the PID controller and the auto disturbance rejection controller are used to study the combined active and passive vibration reduction. The experimental results show that the combined active and passive vibration reduction of the shank platform based on active disturbance rejection control can improve the vibration suppression ability of the shank platform and enhance the anti-interference ability of the shank platform. It provides a new method for robot walking optimization.
【学位授予单位】：中国科学技术大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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