混聯(lián)彈性驅(qū)動四足機器人機構(gòu)分析及仿真研究.pdf

1、哈爾濱工程大學(xué)碩士學(xué)位論文混聯(lián)彈性驅(qū)動四足機器人機構(gòu)分析及仿真研究姓名：卿智忠申請學(xué)位級別：碩士專業(yè)：機械設(shè)計及理論指導(dǎo)教師：房曉明20110310混聯(lián)彈性驅(qū)動網(wǎng)足機器人機構(gòu)分析與仿真研究AbstractTheresearchsubjectcomesfromNationalNaturalScienceFoundationProjectofchinaInordertoimprovethemobilityflexibilityloadcap

2、acitycomplexterrainadaptabilityofquadrupedwalkingrobot，theresearchisdevelopedinthisdissertationinvolvesstudiesonmechanicalstructuredesign，kinematicmathematicmodel，motionspace，dampingbufferingcapacityofwalkinglegandmotion

3、simulationbasedonvirtualprototypetechnologyFirstlybasedontheanalysisofrelatedtechnicalresearchofvariouswalkingrobotsandwalkinglegsathomeandabroad，accordingtothefeaturesofquadrupedMammalianlegahybridelasticdrivewalkingleg

4、with3DOFisproposed，itiscomposedofaserialmechanismanda2DOFparallelmechanismAnovelhybriddrivequadrupedwalkingrobotisdesignedanditsdrivesystemisstudied，anewhybridelasticdriveschemehyadoptingelasticactuatortoprovidepowerispr

5、oposed，inadditiontheimplementationplanofrobotcontrolsystemisputforwardSecondlymathematicalmodelsofforwardandinversekinematicsareestablishedtoobtainthekinematicscharacteristicequations，whichmeansthatitisabletocalculatethe

6、velocityandaccelerationofwalkinglegandstiffnessmatrixofthetoeisestablishedMeanwhile，themotionspacedistributioncloudofthetoeisanalyzedbytheGraphicMethodandMonteCarloMethodTheanalysisresultsshowsthatmotionspaceofwalkingleg

7、islargerinthescopeofwalkingforwarddirectionthanthatoflegraiseandsiderotationwhichissimilartothemovementofquadrupedMammalianlegwhenitiswalking，andCanmeettherequestofquadrupedrobotmotionspaceofleg，whichprovidesthebasisform

8、echanicalstructuredesignofwalkinglegTheestablishmentofstiffnessmatriximprovesthekinematiccharacteristicsandpositioningaccuracyofwalkinglegwhichprovidesreferencefortheresearchoftheimpedanceThirdlyforfurtherbasicresearchof

9、quadrupedrobot，theconcretestructureofwadkinglegisdesigned，thethi。ghadoptsparalleldrivemodetoincr@aggtheverticaldrivingforceand，loadcapacityofwalkingleg；theshankadoptstoserialdrivemodetoincreasethemotionspaceoffootThenthi

10、sdissertationdiscussestheinterferenceconditionofHookejiontandSphericalhingeintheprocessofmovementofwalkingleg，硼ldtheirstructuresaredesigned，inaddition，theHookejiontisoptimized，whichmakesstructuralsizesmallerunderthecondi