摘要：雙足步行機器人是近年來機器人研究領域的熱點，是智能機器人理論和技術(shù)的集中體現(xiàn)，涉及到許多的學科。為提高工程訓練中心的機器人研究水平，擬開發(fā)一款機器人。研究任務是:做好雙足步行機器人的基礎性研究工作，構(gòu)建起雙足步行機器人總體研究框架，為后續(xù)研究工作奠定基礎。具體內(nèi)容如下:第一、綜合分析國內(nèi)外雙足步行機器人研究現(xiàn)狀及發(fā)展趨勢，確定本論文的研究方向和內(nèi)容。第二、對所研究的雙足步行機器人進行機構(gòu)分析，對機器人機構(gòu)進行整體規(guī)劃。選取了電機并確定了自由度。 第三、運用運動學的知識對雙足步行機器人建立了運動學方程模型。第四、用動力學的知識對雙足步行機器人建立了動力學方程模型。第五、虛擬樣機進行了介紹，并對機器人的簡化模型進行了示例分析。結(jié)論:本文對雙足步行機器人的本體結(jié)構(gòu)進行了研究，確定了機器人的自由度，并對機器人進行了運動學建模、動力學建模，運用虛擬樣機技術(shù)對機器人的結(jié)構(gòu)簡化模型進行了分析示例，為以后的機器人實體的制作打下堅實的基礎。
關(guān)鍵詞:雙足步行機器人;運動學模型;動力學模型;ADAMS;虛擬樣機
Abstract：
Biped walking robot is a hot research field in recent years, It is the centralized
embodiment of intelligent robot theory and technology.It can drive the intersecting
development and advancement of many related subject and technology.From 1990s,the study on the biped walking robot has come into a new phase,Robot stars has come out.Now the humanoid robort leagures“RoboCup”and“FIRA”have respectively organized the humanoid soccer robot game successfully,which provide a new apporach and enviroment for us to research humanoid robot.To improve the level of our school's robotics research,intended to develop a robot.My task is to do the basic research work on the humanoid soccer robort and construct the whole study frame in order to build the foundation for the future work. The detailed contents Include：Firstly, Analysis the study situation and the development trend of the robot research allover the world .Indentified the meaning of studying the humaniod robot,confirm the study direction and the content.Secondly, Analysis the structure of the biped walking robot ,build up the whole structureof biped walking robot. Select the motor and determine the degree of freedom.Thirdly, Establishment the kinematics equation of biped walking robot.Fourthly, Establishment the dynamic equations of biped walking robot. Fifthly, Introduced the virtual prototyping technology and analysis the model of Bipedwalking robot.Conclusion:this paper, research the structure of biped walking robot ,determine the degree of freedom robot,.Establishment kinematics equation and dynamic equations of biped walking robot,.Introduced the virtual prototyping technology and analysis the model of Biped walking robot. Construct the whole study frame in order to build the foundation for the future work.
Key Words: Biped Walking Robot; Kinematic Model; Dynamic Model; Adams;Virtual Prototyping...
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