【摘要】：仿人機器人行走系統(tǒng)(簡稱：仿人行走系統(tǒng))是仿人機器人技術(shù)研究的關鍵環(huán)節(jié)。其運動學分析是仿人機器人實現(xiàn)擬人化運動的基礎,準確的運動學分析可為仿人行走系統(tǒng)的結(jié)構(gòu)設計和優(yōu)化提供必要的技術(shù)指標,并為仿人行走系統(tǒng)的步行控制奠定基礎。多剛體機構(gòu)在運動過程中不可避免的會出現(xiàn)奇異位姿,使其變成不可控機構(gòu)。通過分析仿人行走系統(tǒng)的位姿奇異性,排除奇異位形,使仿人行走系統(tǒng)在運動過程中避開奇異位姿,提高機構(gòu)的可控性。仿人機器人在行走過程中是否能夠達到期望的位姿與其動力學密切相關。通過仿人行走系統(tǒng)的動力學研究,便于尋求仿人行走系統(tǒng)最優(yōu)動力輸出,減少機構(gòu)總質(zhì)量,降低能耗,從而增強仿人行走系統(tǒng)的續(xù)航能力。本論文在教育部新世紀人才項目“仿人機器人行走系統(tǒng)關鍵技術(shù)研究”的支持下,進行仿人行走系統(tǒng)的運動學和動力學研究。 首先,以仿人行走系統(tǒng)步行運動的高度擬人化為設計目標,以提高動能的有效利用率為優(yōu)化指標,對仿人行走系統(tǒng)進行了結(jié)構(gòu)設計。分析仿人行走系統(tǒng)的結(jié)構(gòu)特性,應用旋量理論描述剛體的運動,基于旋量法對仿人行走系統(tǒng)進行運動學建模。在求解仿人行走系統(tǒng)運動學逆解過程中,采用Paden-Kahan子問題和剛體運動學特性相結(jié)合的方法加以求解,解決了單純的Paden-Kahan子問題無法求解仿人行走系統(tǒng)運動學逆解這一問題。將旋量法和傳統(tǒng)D-H參數(shù)法進行對比分析,闡述了基于旋量理論對仿人行走系統(tǒng)運動學建模的優(yōu)勢,并通過實例驗證了運動學建模的正確性。 其次,由于仿人行走系統(tǒng)的速度雅克比矩陣為非滿秩時,仿人行走系統(tǒng)會發(fā)生運動奇異,成為不可控的機構(gòu)�；谛坷碚摵蜋C構(gòu)的運動機理,建立仿人行走系統(tǒng)的奇異軌跡方程,從而獲得仿人機器人的雅克比矩陣。對仿人行走系統(tǒng)的雅克比矩陣進行計算,得出其奇異位姿,為仿人行走系統(tǒng)步態(tài)控制環(huán)節(jié)奇異位姿的排除提供理論依據(jù)。 然后,為了尋求仿人行走系統(tǒng)的最優(yōu)動力輸出,分別采用拉格朗日法和牛頓-歐拉法對仿人行走系統(tǒng)進行了動力學建模,比較兩種方法在仿人行走系統(tǒng)動力學建模上的優(yōu)缺點,并闡述了基于拉格朗日法對仿人行走系統(tǒng)動力學建模的優(yōu)勢。利用建立的動力學模型驗證了電機選取的合理性,并提出優(yōu)化方案。通過仿真實驗驗證了動力學建模的正確性。 最后,對仿人行走系統(tǒng)進行運動規(guī)劃,通過仿真實驗進一步驗證了基于旋量理論運動學建模的可行性,以及動力學分析中電機選取和優(yōu)化的合理性。
[Abstract]:Humanoid robot walking system (abbreviated as humanoid walking system) is a key link in the research of humanoid robot technology. Kinematics analysis is the basis of humanoid robot to realize humanoid motion. Accurate kinematics analysis can provide necessary technical indexes for the structure design and optimization of humanoid walking system and lay a foundation for walking control of humanoid walking system. In the process of motion, the multi-rigid-body mechanism inevitably appears singularity, which makes it become an uncontrollable mechanism. By analyzing the position and pose singularity of humanoid walking system, the singularity can be eliminated, so that the humanoid walking system can avoid the singular pose and improve the controllability of the mechanism. Whether the humanoid robot can achieve the desired posture or not in the course of walking is closely related to its dynamics. By studying the dynamics of the humanoid walking system, it is convenient to seek the optimal power output, reduce the total mass of the mechanism and reduce the energy consumption, so as to enhance the live-on ability of the humanoid walking system. In this paper, the kinematics and dynamics of humanoid walking system are studied with the support of the new century talent project of Ministry of Education, "Research on key Technologies of humanoid Robot Walking system". Firstly, the humanization of the walking motion of humanoid walking system is taken as the design goal, and the effective utilization of kinetic energy is taken as the optimization index, and the structure of the humanoid walking system is designed. The structure characteristics of humanoid walking system are analyzed, and the motion of rigid body is described by spinor theory. The kinematics model of humanoid walking system is established based on spinor method. In the process of solving inverse kinematics solution of humanoid walking system, the Paden-Kahan sub-problem and rigid body kinematics characteristic are combined to solve the problem that the simple Paden-Kahan sub-problem can not solve the inverse kinematics solution of humanoid walking system. By comparing and analyzing the spinor method and the traditional D-H parameter method, the advantages of kinematics modeling of humanoid walking system based on spinor theory are expounded, and the correctness of kinematics modeling is verified by an example. Secondly, when the speed Jacobian matrix of humanoid walking system is non-full rank, the motion singularity of humanoid walking system will occur and become an uncontrollable mechanism. Based on spinor theory and mechanism of mechanism, the singular trajectory equation of humanoid walking system is established, and the Jacobian matrix of humanoid robot is obtained. The Jacobian matrix of humanoid walking system is calculated, and the singular pose is obtained, which provides a theoretical basis for the elimination of singular pose in gait control of humanoid walking system. Then, in order to find the optimal dynamic output of humanoid walking system, Lagrangian method and Newton-Euler method are used to model the dynamic model of humanoid walking system, and the advantages and disadvantages of the two methods in the dynamic modeling of humanoid walking system are compared. The advantage of dynamic modeling of humanoid walking system based on Lagrange method is discussed. The rationality of motor selection is verified by using the established dynamic model, and the optimization scheme is proposed. The correctness of the dynamic modeling is verified by simulation experiments. Finally, the kinematics planning of humanoid walking system is carried out, and the feasibility of kinematics modeling based on spinor theory and the rationality of motor selection and optimization in dynamic analysis are further verified by simulation experiments.
【學位授予單位】：長春工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TP242;TB17

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