混聯(lián)彈性驅(qū)動(dòng)四足機(jī)器人機(jī)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(dòng)四足機(jī)器人機(jī)構(gòu)分析及仿真研究姓名：卿智忠申請(qǐng)學(xué)位級(jí)別：碩士專(zhuān)業(yè)：機(jī)械設(shè)計(jì)及理論指導(dǎo)教師：房曉明20110310混聯(lián)彈性驅(qū)動(dòng)網(wǎng)足機(jī)器人機(jī)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