六足机器人的运动析及路径规划.docVIP

五邑大学 毕业设计说明书 毕业设计题目：六足机器人的运动分析及路径规划 院 系 机电工程学院 专 业 机械工程及自动化 学 号 AP0808340 学生姓名 诸焕城 学生电话 指导教师 李昌明 副教授 完成日期 2012年5月20日 摘 要 六足步行机器人机动性强，适应能力高，能代替多种机器人完成工作，其研究具有重要的科学意义和实际应用价值。本文针对六足步行机器人的机体设计、步态规划、运动学分析、足端轨迹规划中的空间插值方法及避障路径规划算法等理论和技术问题，开展了较为系统的研究工作。首先，对六足昆虫进行机械建模，确定选用椭圆形身体布局后，进一步对六足步行机器人在三角形步态下的爬行稳定性进行详细地分析；然后，求解机器人步行足运动学的正逆解问题，利用求解结果辅助规划机器人的足端轨迹。MATLAB的分析仿真发现，在六次多项式函数的足端轨迹曲线下，步行足具有较好的运动特性；最后，先简单介绍了人工势场和蚁群算法，再合理地对两种算法进行了有效地融合与改进，扬长避短，得到了一种更高效智能的路径轨迹规划算法。MATLAB的仿真实验结果证明了该算法的有效性。 关键词： 六足步行机器人；步态规划；运动学；轨迹规划；人工势场；蚁群算法 Abstract Due to the great mobility and adaptability of hexapod walking robot, and their high performances in various robotic tasks, the research on it is of momentous scientific significance and practical application value. This thesis addresses body design, gait planning and kinematics analysis, polynomial interpolation method of foot trajectory planning, and obstacle path planning algorithm for hexapod walking robot. In order to solve these problems, a systematic study for the robots is presented. Firstly, the oval body configuration is chosen based on the structure and motion characteristic of insect, and then drive deeper into the stability of crawl locomotion under the tripod gait movement. Secondly, after solving forward and inverse kinematics of swinging leg, polynomial interpolation method is adopted to find a better curve of foot trajectory. MATLAB is used to do this simulation. The solution shows that swinging leg possesses the excellent kinetic characteristic under the six-order polynominal function curve. Finally, a brief description of artificial potential field method(PFM) and ant colony algorithm(ACO) exposes the imperfection of them. A new algorithm is proposed by combining PFM with ACO effectively．Simulation results testify the validity of this method for robot path planning． Key words：Hexapod walking robot Gait planning Kinematics Trajectory planning A