基于3-SPS仿生關(guān)節(jié)機(jī)構(gòu)的運(yùn)動(dòng)控制與應(yīng)用.pdf

1、南京理工大學(xué)碩士學(xué)位論文基于3SPS仿生關(guān)節(jié)機(jī)構(gòu)的運(yùn)動(dòng)控制與應(yīng)用姓名：周云芳申請學(xué)位級別：碩士專業(yè)：機(jī)械電子工程指導(dǎo)教師：張龍20060629南京理工大學(xué)碩士論文苧三蘭竺蘭盟生菱!塾塑墮重墊絲墅蘭壁里AbstractThispapermainlystudies3SPSbiomimeticaljointmechanismskinematics，controlsystemapplicationproblemsetcThebackwarddi

2、splacementsolutionof3SPSbiomimeticaljointmechanismisproposedbyanalyzingthekinematicsofthebiomimeticaljointmechanismandcarriedoncorrelativesimulationexperimentWehavecmphaticallydesignedthehardwarecontrolsystemtothe3SPSbio

3、mimeticaljointmechanism，aftersynthesizingseveralconlmondrivetypes，proposedthehydraulicservocon船otstrategyestablishedthesystemsparameterandsingleurnmathematicalmodeltOpropose8newDistributedControlSystemBasedonCANBusInview

4、ofthebiomimeticaljointmechanismstraitafuzzyadaptivecontrolstrategyisproposedheresetuptherogatorytablilationoffuzzycontr01ARerthat，wedesignedthefuzzyadaptivecontrollerforthemgieurn’shydraulicSel“VOsystemanddidcorrelativee

5、mulationalexperimentThenthesisregardsthecrab—likerobotastheresearchobjectdiscussesthedevelopmentofthecrab—likerobotandtheadvantagesofthecrablikerobotwalkingandintelligentcontrollingThenused3SPSbiomimeticaljointmechanisma

6、sthecrab—likerobot’sjoim，thethesisestablishesthebiologicalmodelingcrabsinglelegstructuralmodelWiththealgorithmofthefuzzycontrollerandtheparametersofthecrab1ikerobotconfirmedthesimulationdiagramsareplottedThismodelmayprov