基于MATLAB搜救机器人的腿部模型建立与仿真.doc

基于MATLAB搜救机器人的腿部模型建立与仿真 摘 要：一直以来轮式和履式的搜救机器人得到了很多的应用，但它们都不能适应复杂崎岖的路面，而足式机器人可以适应各种复杂的地面情况，在地震救灾的过程当中可以很好完成任务，本文借鉴了哺乳动物的四肢结构并且将其简化，对设计好的机构进行正运动学和逆运动学的分析，最后通过Simulink对机器人步态进行仿真，本文的主要内容有： 分别介绍了国内外搜救机器人的发展状况和趋势，根据哺乳动物狗的腿部结构设计出一种仿生的四足机器人，然后运用D-H法对狗的四足机构建立了坐标系并且进行了正逆运动学的分析。 运用Simulink建立四足机器人的单腿模型，设定有关的腿部长度和关节参数，规划机器人的对角步态和三角步态，运用Simulink进行步态仿真。 关键词：搜救机器人，运动学分析，步态仿真 Search and rescue robot leg model and simulation based on MATLAB Abstract: The wheele and crawler robot for searching and rescueing has been applicated for some years, but they all can not be adapt to the complex rugged road. Unfortunately, the crawler robot can not be adapt to all kinds of complicated situation on the ground, but the foot type of robot can be very good to complete tasks in the process of earthquake relief. This paper draws on mammalian limb’s structures and simplifing the structures .Doing forward kinematics and inverse kinematics analysis.Finally carring out on the robot gait through the Simulink simulation, the main content of this article: Introducing the development status and trend of search and rescue robot at home and abroad respectively, according to the dogs leg structure a bionic quadruped robot designed , then establishing the dog coordinates of the four institutions and doing the inverse kinematics analysis. Using MATLAB/Simulink to establish the gait of a quadruped robot programming model. Seting the gait parameters and planning diagonal gait and triangle gait. Keywords: Search and rescue robot, kinematics analysis, the simulation of gait 目 录 1 绪论..................................................................1 1.1 课题背景及研究意义..................................................1 1.2 国内外搜救机器人研究现状............................................1 1.2.1 国外搜救机器人研究状况............................................1 1.2.2 国内搜救机器人研究概况............................................3 1.3论文的主要工作.......................................................3 2 搜救机器人机构设计及运动学分析..................................