五自由度机步行机器人步态设计及控制策略研究
时间:2018-09-02 11:06 来源:毕业论文 作者:毕业论文 点击:次
| 摘要双足爬壁机器人是一种小型，采用双足结构，能在垂直壁面工作的机器人。由于其卓越的性能，它已经被应用在工业，农业，军事等领域。但是爬壁机器人的技术还依旧不成熟，在不平整的外墙表面，爬壁机器人不能翻越各种复杂的障碍。因此，探索壁面越障机构及平面行驶步态控制方法，对于有效提升爬壁速度，适应各种壁面环境有着很重要的实际意义。27682 本文主要内容如下： 1. 探讨爬壁机器人的研究背景和意义，列举国内外研究现状，并简述了文章的主要研究内容和组织结构。 2. 针对五自由度爬壁机器人具体运动机构，利用经典的机器人DH参数法，给出雅克比矩阵等计算公式 3. 模拟双足动物步态，利用分段函数给出了爬壁机器人在操作空间中步态设计方法。其主要创新点是将机器人抬腿高度离散化几种尺寸。 4. 利用拉格朗日方程，给出了爬壁机器人动力学方程，为系统的进一步理论研究奠定了理论基础； 关键字： 爬壁机器人，运动学分析，步态设计，动力学模型 毕业论文设计说明书外文摘要 Title Study on gait design and control strategy for walking robot with five degrees of freedom Abstract Biped wall-climbing robot is a small,biped robotic equipment which can work on the vertical surface. It is being used in many fields such as industry,agriculture and military.But the technology of wall-climbing robot is still premature, due to the fact that it cannot efficiently walk on surface that is not flat. Therefore, we are researching the institutions across the barrier and the methods controlling plane travel for increasing the crawling speed. There are some very meaningful things for the world. Here is the main content of the article: 1. It discusses the background and significance of researching wall-climbing robots, and analyzes research status of wall-climbing robots, and outlines the main contents and structures of the article. 2. Constructing modular robot algorithm based on DH parameters, deriving kinematic formulas and solving equations of each joint variable with homogeneous transformation matrix and Jacobi matrix. 3. According to kinematic equations, we design some types of wall-climbing robot path gaits. We select one or more combinations of climbing gaits for the wall-climbing robot. 4. We create the wall-climbing robot’s dynamical equations by using Lagrange equations. Keywords: Wall-climbing robot,Dynamical analysis, Gaits design, Kinematic model. 目 录 1 绪 论 1 1.1 爬壁机器人课题背景及课题意义 1 1.2 国内外研究现状分析 2 2. 运动学分析 3 2.1爬壁机器人双足式越障机构综合及其系统结构 3 2.2.机器人机构雅克比矩阵 6 3.爬壁机器人步态设计 8 3.1分段函数求解 8 4.动力学建模 14 4.1.拉格朗日方程及方程分解 14 4.2.动力学简化模型推导过程 16 4.3.关节空间与操作空间动力学 20 5 两种步态的自由度实验描述及实验结果 24 5.1.跨越式步态 24 5.2.旋转式步态 24 5.3.两种步态的数据 24 (责任编辑：qin) |