单驱动双足步行机器人结构设计

论文总字数：38006字

摘 要

随着国内经济社会的快速发展以及服务行业的兴起，机器人协助人们完成日常工作终将成为趋势，而服务型机器人也必然得到普遍应用。针对服务，本文单驱动设计，可实现简单的仿人行走。

本文首先根据大量参考文献内容，结合人体下肢行走步态规律研究，提出了单驱动双足步行机器人的总体设计方案；其次在连贯性的参考依据下对各组成部分；再次对人数学模型构建，通过对数学求解，优化设计；然后通过步行分析，准确性以及结构；最后在及ADAMS基础工作上成功研制出了，。结果显示，本文设计的单驱动双足步行机器人能够实现简单的仿人行走，运动连贯性良好，部分关节符合人体关节运动规律。

本文的成果是对机构的探讨，为双足研提供了方法。

关键词：单驱动，结构设计，建模，ADAMS仿真分析

Structural Design of Single - driven Biped Walking

02013602 Li Yang

Supervised by Tian Mengqian

ABSTRACT

With the rapid development of our economic society and the rise of service industry, it will eventually become a trend that robots help people complete their daily work, and the corresponding service robot is bound to be widely used.Aiming at the lower limb walking mechanism of the service robot, this paper presents a design scheme of single-driven biped walking robot, which can realize simple anthropic walking posture.

Firstly, combining with the study on walking gait regularity of human lower limbs, the overall design scheme of single-driven biped walking robot is determined after reading lots of related references. Secondly, the components of the robot are designed in detail based on the imitation and movement coherence. Thirdly, the kinematics and dynamics of the robotic walking mechanism are constructed by mathematical model.The mathematical model is solved by MATLAB, and the structural parameters are optimized. Then the simulation results show that the mathematical model is correct and the rationality of the structure is verified by ADAMS.Finally, the physical prototype of the robot is developed, based on the MATLAB theoretical research and the ADAMS simulation verification, and its movement state is analyzed.The results show that the single-drive biped walking robot designed in this paper can achieve a simple anthropic walking posture and has good movement coherence, and some joints conform to the law of human joint movement.

The research work and result of this paper are the discussion of the lower limbs walking mechanism of the service robot, which provides a feasible method for the research of biped walking robot.

KEY WORDS:Single-driven, Structure design, MATLAB model, ADAMS simulation analysis

目 录

1绪论 1

1.1研究背景及意义 1

1.1.1 选题背景 1

1.1.2 选题研究意义 1

1.2研究现状 1

1.2.1 国外研究现状 1

1.2.2 国内研究现状 3

1.3课题主要研究内容 4

2 双足步行机器人结构设计 5

2.1理论设计依据 5

2.1.1人体下肢行走平面运动分析 5

2.1.2 步行机器人综合设计依据 7

2.2 结构设计 7

2.2.1 步行机器人总体设计方案 7

2.2.2 步行机构设计 8

2.2.3 辅助平行机构设计 10

2.3 仿真运动分析 10

2.4 本章小结 11

3步行机构的运动学与动力学分析 12

3.1步行机构的运动学分析 12

3.1.1 步行机构的运动学建模 12

3.1.2 运动学模型求解与结果分析 16

3.2 步行机构的动力学分析 20

3.2.1 步行机构的动力学建模 20

3.2.2 动力学模型求解与结果分析 27

3.3 本章小结 29

4 双足步行机器人的虚拟样机仿真与分析 30

剩余内容已隐藏，请支付后下载全文，论文总字数：38006字