【摘要】：目前,移動機器人在社會生產(chǎn)活動中已經(jīng)得到了廣泛的應用。在松軟和不平坦的地面上,相比傳統(tǒng)的輪式機器人,具有高爆發(fā)力的仿青蛙機器人具有更好的移動性能。在仿青蛙機器人跳躍研究過程中,動態(tài)穩(wěn)定控制問題是主要的挑戰(zhàn)。本文針對該問題,根據(jù)實際作業(yè)需求,給仿青蛙機器人設計了不同的跳躍方案�；谶z傳算法,對仿青蛙機器人跳躍過程的關節(jié)軌跡進行了優(yōu)化,得到了仿青蛙機器人最佳的跳高和跳遠控制策略。結(jié)合力學分析,得到了影響仿青蛙機器人跳躍性能的主要因素,建立了能滿足在多種障礙下工作的仿青蛙機器人跳躍力學模型。本文從仿生學角度出發(fā),選擇具有優(yōu)秀跳躍性能和合理運動結(jié)構的青蛙作為研究對象,建立了平面連桿機構仿青蛙機器人跳躍模型。在該模型的基礎上,對仿青蛙機器人在起跳和騰空階段的進行了運動學和動力學分析,研究了仿青蛙機器人在跳躍過程中各關節(jié)運動軌跡,質(zhì)心速度,質(zhì)心加速度和各關節(jié)扭矩之間的關系,建立了仿青蛙機器人在跳躍過程中各關節(jié)的動力學模型。根據(jù)仿青蛙機器人在實際作業(yè)中的障礙種類,提出了跳高和跳遠兩種跳躍方案。基于遺傳算法,分析了不同起跳時間下仿青蛙機器人的跳躍性能,同時在最佳起跳時間下,分析了仿青蛙機器人跳高和跳遠指標下的跳躍性能,得到了滿足不同跳躍指標的各關節(jié)控制策略。結(jié)合Matlab仿真分析和已有的實驗數(shù)據(jù),驗證了方案的正確性和可行性。結(jié)合矢量法和矩陣法分析可以簡化仿青蛙機器人運動學的運算�；谄矫媪ο低茖У玫降膭恿W方程結(jié)論,適用于任意空間坐標系下的機器人動力學分析。通過軌跡優(yōu)化得到的各關節(jié)運動軌跡,結(jié)合逆動力學方程,解決了六關節(jié)仿青蛙機器人跳躍中動力學的強耦合和非線性分析難點。在優(yōu)化后的關節(jié)運動軌跡中,通過控制影響跳躍性能的主要因素,可以使仿青蛙機器人在實際應用中跳的更高和更遠。
文內(nèi)圖片：
圖片說明：圖1-5雙臂柔性欠驅(qū)動模型
[Abstract]:At present, mobile robots have been widely used in social production activities. Compared with the traditional wheeled robot, the frog imitating robot with high explosive force has better mobile performance on the soft and uneven ground. In the research process of frog robot jump, dynamic stability control is the main challenge. In order to solve this problem, according to the actual operation requirements, different jump schemes are designed for frog imitating robots. Based on genetic algorithm, the joint trajectory of frog-like robot is optimized, and the optimal high jump and long jump control strategy of frog-like robot is obtained. Combined with mechanical analysis, the main factors affecting the jumping performance of frog-like robot are obtained, and the jumping mechanics model of frog-like robot which can meet the requirements of working under various obstacles is established. In this paper, from the point of view of bionics, the frog with excellent jumping performance and reasonable motion structure is selected as the research object, and the jump model of planar linkage mechanism imitating frog robot is established. On the basis of this model, the kinematic and dynamic analysis of frog imitating robot in take-off and take-off stage is carried out, and the relationship among joint motion trajectory, centroids velocity, centroids acceleration and joint torque during jump is studied, and the dynamic model of each joint in jumping process is established. According to the obstacle types of frog imitating robot in practical operation, two jumping schemes, high jump and long jump, are put forward. Based on genetic algorithm, the jumping performance of frog-like robot under different take-off time is analyzed. At the same time, under the optimal take-off time, the jump performance of frog-like robot under high jump and long jump index is analyzed, and the joint control strategies satisfying different jump indexes are obtained. Combined with Matlab simulation analysis and existing experimental data, the correctness and feasibility of the scheme are verified. The kinematic operation of frog imitating robot can be simplified by combining vector method and matrix method. Based on the conclusion of the dynamic equation derived from the plane force system, it is suitable for the dynamic analysis of the robot in any spatial coordinate system. Through the trajectory optimization of each joint trajectory, combined with the inverse dynamic equation, the difficulties of strong coupling and nonlinear analysis of dynamics in the jump of six-joint frog robot are solved. In the optimized joint trajectory, by controlling the main factors that affect the jump performance, the frog imitating robot can jump higher and farther in practical application.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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