仿人机器人步行稳定性训练用6-dof串并联机构平台的分析-analysis of 6 - dof serial-parallel mechanism platform for walking stability training of humanoid robot.docxVIP

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仿人机器人步行稳定性训练用6-dof串并联机构平台的分析-analysis of 6 - dof serial-parallel mechanism platform for walking stability training of humanoid robot.docx

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仿人机器人步行稳定性训练用6-dof串并联机构平台的分析-analysis of 6 - dof serial-parallel mechanism platform for walking stability training of humanoid robot

AbstractWalkingrobottechnologyhasbecomeapopularnationalresearchprojectnowadays.Inordertoachievethestabilityofthewalkingrobot,weneedtoknowtheenvironmentinwhichthewalkingrobotworksandhowtotrainittoimprovetheabilitytoadapttotheenvironment.Inthisthesis,toachievethestabilityofwalking,thestudyofasix-degreemechanicalplatformisneeded.Ordinarysix-degreeplatformofpureparallelstyle,pureserialstyleaswellasparallel-serialstylecannotcombinetheadvantagesintermsofcarryingcapacity,workspace,Kinematicsandothercharacteristics.Therefore,thisthesisproposesanewkindofsix-degreeserial-parallelmechanicalplatformapplyingforwalkingstabilitytrainingofhumanoidrobot.Introducetheoverallprogramanddetailedstructureofanewsix-degreeserial-parallelplatform.Compareamongvariousstructureprogramstoselectthedownparallelupserialstructureanddiscussthestructureprinciple.Proposeareasonabledriveprogramaswellastheworkingprincipletomeetthesystemfunction.Rationallydesignconnectionjoints,kinematicpairs,materials,motorselection,auxiliarysupportstructure,aimingatachievingthepurposeofsystemintegration.Analyzekinematics,dynamicsoftheserial-parallelplatform.Including:thesysteminversekinematics,differentialinversekinematics,thesystemforwardkinematics,differentialforwardkinematics,dynamicsandtheyareallanalyzedbyanalyticalsolutions.Analyzetheerrorofthisserial-parallelplatform.Establishtherelationshipmodelbetweentheoutputpositionerrorandthesystemstructureerror.Duetoeachstructureerror,makeananalysisoftheinfluencedegreeontheoutputpositionerror.Systemsimulationforthisserial-parallelplatform.UseADAMStododynamicssimulationtochoosesuitablemotionsandlinearunits,andmakesurethatthemovementdesignspecificationsmeet.Undersingledegreemovementofthisplatform,finishthestabilitytrainingsimulationofthebipedrobot.Keywords:six-degree;serial-parallel;kinematics;dynamics;erroranalysis;simulation目录摘要...................................................................................................................................IAbstract.........