并聯(lián)腿部的四足機(jī)器人
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- 本文選擇并聯(lián)腿部機(jī)器 人作為研究對(duì)象,首先對(duì)于國(guó)內(nèi)外并聯(lián)機(jī)構(gòu)和四足機(jī)器人的發(fā)展現(xiàn)狀及未來(lái)的發(fā) 展趨勢(shì)進(jìn)行了綜述,并且闡明了選擇并聯(lián)機(jī)器人作為研究對(duì)象的主要原因;然后進(jìn) 行了并聯(lián)四足機(jī)器人的整體方案及關(guān)鍵結(jié)構(gòu)設(shè)計(jì)并通過(guò) ANSYS 軟件對(duì)于核心零部件進(jìn)行了靜應(yīng)力仿真分析,以此優(yōu)化了相關(guān)零部件結(jié)構(gòu)、機(jī)構(gòu)構(gòu)型和受力方式;之 后對(duì)于設(shè)計(jì)的機(jī)構(gòu)進(jìn)行了運(yùn)動(dòng)學(xué)分析,在此基礎(chǔ)上,我們通過(guò)對(duì)于比賽規(guī)則的解讀, 并且基于仿生學(xué)原理進(jìn)行了兩種步態(tài)的設(shè)計(jì)并規(guī)劃了相應(yīng)的足端軌跡。最后對(duì)于 設(shè)計(jì)的運(yùn)動(dòng)步態(tài)進(jìn)行了物理調(diào)試,通過(guò)大量實(shí)驗(yàn)及調(diào)試數(shù)據(jù)進(jìn)一步驗(yàn)證了仿真結(jié) 果。 亞太大學(xué)生機(jī)器人大賽(ABU ROBOCON)始于 2002 年,該賽事每年發(fā)布一個(gè)主
題,由參賽隊(duì)自行組織設(shè)計(jì)并制造機(jī)器人完成既定任務(wù),至今已經(jīng)舉辦過(guò) 17 屆, 本文以第十八屆 ROBOCON 機(jī)器人大賽“快馬加鞭”為背景,圍繞比賽中的四足機(jī)器人展開(kāi)研究。
在 ROBOCON 比賽當(dāng)中對(duì)于機(jī)器人機(jī)構(gòu)剛度、精度及負(fù)載重量比有著極高的要求,并聯(lián)機(jī)構(gòu)相對(duì)于串聯(lián)機(jī)構(gòu)有很多優(yōu)勢(shì),其靈活度高、精度高、重復(fù)性好;動(dòng)、 靜剛度大,關(guān)節(jié)動(dòng)量小,負(fù)載重量比高,成本較低[1]。因此本文選擇并聯(lián)腿部機(jī)器 人作為研究對(duì)象,首先對(duì)于國(guó)內(nèi)外并聯(lián)機(jī)構(gòu)和四足機(jī)器人的發(fā)展現(xiàn)狀及未來(lái)的發(fā) 展趨勢(shì)進(jìn)行了綜述,并且闡明了選擇并聯(lián)機(jī)器人作為研究對(duì)象的主要原因;然后進(jìn) 行了并聯(lián)四足機(jī)器人的整體方案及關(guān)鍵結(jié)構(gòu)設(shè)計(jì)并通過(guò) ANSYS 軟件對(duì)于核心零部件進(jìn)行了靜應(yīng)力仿真分析,以此優(yōu)化了相關(guān)零部件結(jié)構(gòu)、機(jī)構(gòu)構(gòu)型和受力方式;之 后對(duì)于設(shè)計(jì)的機(jī)構(gòu)進(jìn)行了運(yùn)動(dòng)學(xué)分析,在此基礎(chǔ)上,我們通過(guò)對(duì)于比賽規(guī)則的解讀, 并且基于仿生學(xué)原理進(jìn)行了兩種步態(tài)的設(shè)計(jì)并規(guī)劃了相應(yīng)的足端軌跡。最后對(duì)于 設(shè)計(jì)的運(yùn)動(dòng)步態(tài)進(jìn)行了物理調(diào)試,通過(guò)大量實(shí)驗(yàn)及調(diào)試數(shù)據(jù)進(jìn)一步驗(yàn)證了仿真結(jié) 果。
論文最后對(duì)全文進(jìn)行了總結(jié),提出了本文在研究并聯(lián)四足機(jī)器人時(shí)的一些不足及后續(xù)完善的一些研究方向。
關(guān)鍵詞:ROBOCON;并聯(lián)機(jī)構(gòu);四足機(jī)器人;機(jī)構(gòu)設(shè)計(jì);步態(tài)設(shè)計(jì)與仿真
Ⅰ
ABSTRACT
The ABU ROBOCON began in 2002. The event publishes one theme each year. The team who wants to take part in organizes and designs the robot to complete the established tasks. It has been held for 17 sessions so far. This article is against the backgroud of the 18th ROBOCON Robot Competition which named KuaiMaJiaBian. The research is carried out around the four-legged robot in the game.
In the ROBOCON competition, there is a very high requirement for the rigidity, accuracy and load-to-weight ratio of the robot mechanism. The parallel mechanism has many advantages over the series mechanism, and its flexibility, high precision and repeatability are good; dynamic and static stiffness are large, joint momentum Small, high load-to-weight ratio and low cost [1]. Therefore, the parallel leg robot is selected as the research object. Firstly, the development status and future development trend of parallel mechanism and quadruped robot at home and abroad are reviewed in the article, and the main reason for selecting parallel robot as the research object is clarified. The overall scheme and key structure design of the foot robot were simulated and analyzed by ANSYS software to optimize the related parts design, mechanism configuration and force mode. Then the kinematics analysis was carried out for the design mechanism. On this basis, we have designed two gaits and planned the corresponding foot trajectory by interpreting the rules of the game and based on the principle of bionics. Finally, the physical gait of the designed motion gait was physically debugged, and the simulation results were further verified by a large number of experiments and debugging data.
At the end of the thesis, the paper summarizes the whole thesis, and puts forward some research directions in this paper when studying parallel quadruped robots.
Key words: ROBOCON; parallel mechanism; quadruped robot; mechanism design; gait design and simulatione
目錄
摘 要 ........................................................................ 1
ABSTRACT .................................................................... 1
1 緒 論 ....................................................................... 1
1.1 課題研究背景及意義 ................................................. 1
1.2 并聯(lián)機(jī)構(gòu)的發(fā)展現(xiàn)狀及趨勢(shì) ........................................... 1
1.3 四足機(jī)器人的發(fā)展現(xiàn)狀與趨勢(shì) ........................................ 2
1.4 主要工作與內(nèi)容安排 ................................................. 5
2 并聯(lián)腿部機(jī)器人結(jié)構(gòu)設(shè)計(jì) ............................................... 7
2.1 整體方案設(shè)計(jì) ........................................................ 7
2.2 機(jī)器人腿部結(jié)構(gòu)及桿長(zhǎng)設(shè)計(jì) ........................................... 9
2.3 重要零部件有限元分析及結(jié)構(gòu)優(yōu)化 ................................... 11
3 四足機(jī)器人步態(tài)規(guī)劃及仿真 ........................................... 14
3.1 并聯(lián)腿部運(yùn)動(dòng)學(xué)分析 ................................................ 14
3.1.1 正運(yùn)動(dòng)學(xué)分析 .................................................. 14
3.1.2 逆運(yùn)動(dòng)學(xué)分析 ................................................. 16
3.2 步態(tài)設(shè)計(jì)及運(yùn)動(dòng)仿真 ................................................ 17
3.2.1 步態(tài)相關(guān)定義 ................................................. 17
3.2.2 對(duì)角(Trot)步態(tài) ............................................ 19
3.2.3 跳躍(Bound)步態(tài) ........................................... 22
3.2.4 仿真結(jié)果分析 ................................................. 24
4 四足機(jī)器人物理樣機(jī)實(shí)驗(yàn) .............................................. 28
4.1 實(shí)驗(yàn)平臺(tái)簡(jiǎn)介 ....................................................... 28
4.2 跳躍步態(tài)實(shí)驗(yàn) ....................................................... 28
4.3 對(duì)角步態(tài)實(shí)驗(yàn) ....................................................... 30
5 總結(jié)與展望 .............................................................. 32
5.1 總 結(jié) ................................................................ 32
5.2 未 來(lái) 展 望 ............................................................ 33
致 謝 ........................................................................ 34
參考文獻(xiàn) ................................................................... 35
1 緒論
1.1課題研究背景及意義
近年來(lái)機(jī)器人產(chǎn)業(yè)發(fā)展迅速,廣泛應(yīng)用于工業(yè)生產(chǎn)、醫(yī)療設(shè)備、服務(wù)行業(yè)、航空航天、搶險(xiǎn)救援等各個(gè)領(lǐng)域。而足式機(jī)器人能夠在復(fù)雜地形中完成任務(wù),其機(jī)體能夠與地形分離,自帶“懸架結(jié)構(gòu)”,僅需依靠離散的落腳點(diǎn)即可完成穩(wěn)定、連續(xù)的移動(dòng),其應(yīng)用前景十分可觀,四足機(jī)器人被認(rèn)為是家庭和商業(yè)服務(wù)、科學(xué)探測(cè)、緊急救援、物資運(yùn)送、偵察巡邏等作業(yè)的最佳移動(dòng)平臺(tái)[2]。并聯(lián)機(jī)器人相較于串聯(lián)機(jī)器人來(lái)說(shuō)有很多優(yōu)點(diǎn):一是機(jī)身支承數(shù)目多,機(jī)器人本身承載能力強(qiáng)、剛度高, 結(jié)構(gòu)穩(wěn)定;二是并聯(lián)機(jī)器人沒(méi)有串聯(lián)的關(guān)節(jié),故而不會(huì)產(chǎn)生累積誤差,其精度相對(duì)較高;三是并聯(lián)機(jī)構(gòu)的驅(qū)動(dòng)設(shè)備可以放置在機(jī)身上,可以避免執(zhí)行元件加在關(guān)節(jié)上造成關(guān)節(jié)慣性太大,進(jìn)而惡化系統(tǒng)的動(dòng)力性能。并聯(lián)機(jī)器人因上述優(yōu)勢(shì)在高精度醫(yī)療器械、并聯(lián)機(jī)床和微操作機(jī)器人領(lǐng)域有著廣泛的應(yīng)用及發(fā)展前景。
對(duì)于足式機(jī)器人,其移動(dòng)性能是評(píng)價(jià)足式機(jī)器人性能好壞的核心標(biāo)準(zhǔn)之一,其移動(dòng)速度、移動(dòng)平穩(wěn)性以及靈活性是人們關(guān)注的重要指標(biāo),但是限于機(jī)構(gòu)設(shè)計(jì)、驅(qū)動(dòng)、控制等理論和技術(shù)上的欠缺,大多數(shù)足式機(jī)器人移動(dòng)速度較低低、能效差,極大的限制了機(jī)器人的應(yīng)用范圍和效能,本文就是解決 ROBOCON 比賽中四足機(jī)器人的結(jié)構(gòu)設(shè)計(jì)以及其運(yùn)動(dòng)步態(tài)問(wèn)題,規(guī)劃幾種合適的行走及跳躍步態(tài),以增強(qiáng)足式機(jī)器人的運(yùn)動(dòng)平穩(wěn)性及復(fù)雜地形適應(yīng)能力,增強(qiáng)足式機(jī)器人的移動(dòng)性能。
1.2并聯(lián)機(jī)構(gòu)的發(fā)展現(xiàn)狀及趨勢(shì)
1992 年,HIROSE 帶領(lǐng)的團(tuán)隊(duì)將 Stewart 并聯(lián)機(jī)構(gòu)用到步行機(jī)器人上研制出了Para-walker 步行機(jī)器人,是第一次用到六自由度的并聯(lián)機(jī)構(gòu),隨后經(jīng)過(guò)一系列改善研制了串并聯(lián)混合的 Parawarker-ii 機(jī)器人;Dunlop 將 Delta 應(yīng)用到步行機(jī)器人上研制出了 Delta 并聯(lián)機(jī)構(gòu)步行機(jī)器人;日本的 RRIC 研究所研制出了一種兩組并聯(lián)機(jī)器人 Kupm,可進(jìn)行危險(xiǎn)動(dòng)作;2001 年,TAKANISHI 等研發(fā)了一種并聯(lián)腿的兩足步行椅機(jī)器人 WL-15,可以適應(yīng)外界的環(huán)境。 ...