步行机器人圆筒式腿部电机弹性驱动结构设计..doc

步行机器人圆筒式腿部电机弹性 驱动设计 摘　　要 步行机器人有较好的机动性，灵活性、对地形的适应能力强等特点，是机器人研究领域的的热点之一。腿部结构是步行机器人结构中的重要部分。特别是在恶劣环境下，能够具有适应外界应力的控制的腿部结构是非常重要的。本文设计了一种圆筒式腿部弹性驱动装置，其作用是将电机的位置输出转化为驱动腿部运动的输出力；其特点是：轻便、低廉、功率大，最重要的是能够在在较大带宽的变动载荷的作用下，会较好地模仿生物肌肉，对所装配的步行机器人进行保护，避免其受到损伤。具体工作如下： 首先，分析讨论了步行机器人结构中腿部弹性结构的作用，以及对几种常见的仿生驱动结构进行分析比较，结合国内外发展状况，论证了圆筒式电机串联弹性器的研究价值和实用价值 关键词：步行机器人；弹性驱动器；仿生；ANSYS ABSTRACT Legged robot has good characteristics of mobility, flexibility and adaptability to the terrain and it is one of the hot research fields. Leg structure of legged robot is the focus of this research. Especially in harsh environments, it is important to adapt to the outer stress and be controlled for the leg structure. The purpose of this design is a leg elastic actuator whose role is to convert a form of energy into a output force of leg driving movement with the features of lightweight, cheap, large power, and the most important is it can imitate biological muscles under large bandwidth fluctuating load, and protect the walking robot from being injured. Specific tasks are as follows:  First,the role of leg elastic structure of the walking robot and compares several common bionic drive structures. In addition, combined with the domestic and foreign development are discussed in this paper,the research value and practical value of the cylindrical motor series elastic device is demostrated in this paper. Second, by the analysis of the double series elastic drive, dual parallel elastic drive structure and the single rigidity elastic drive structure,the theory of two-cylinder motor-driven series elastic structure design is accomptished. And on this basis, general structure of the preliminary design concepts. Third,themeehanical structure of the elastic drive is designed in this paper with a sener motor selcetion,celcnderal—type support stracture and a springy elastic element Finally, the motor system and transmission system are selected, and the parts have design calculation and inte