仿人双足机人机构设计_毕业设计论文.docx

PAGE 仿人双足机器人机构设计毕业设计中文摘要仿人双足机器人是机器人研究的前沿领域，是多种科技的结合，代表一个国家的技术水平。仿人双足机器人最大的特征就是双足步行，因此它的灵活性很高，可以代替人类完成危险作业。本文回顾了国内外仿人双足机器人的发展历史，在分析人类下肢结构的基础上，确定机器人机构的自由度配置、关节结构及驱动形式。在inventor环境下进行机构的建模及装配，完成仿人双足机器人机构的设计，最后对仿人双足机器人机构进行运动模拟和强度分析，检验机构的运动性能和强度，进一步优化机构的设计。 关键词： 仿人双足机器人，机构设计，运动模拟，强度分析毕业设计外文摘要Title Design of humanoid biped robotAbstractHumanoid biped robot is a frontier field of robot research, is the combination of science and technology, the technical level on behalf of a countrys. Characteristics of humanoid biped robot is the biggest biped walking, so its high flexibility, can replace human do dangerous work.This paper reviews the development history of domestic and foreign humanoid biped robot, based on analysis of human lower limb structure, determine the robot DOF configuration, joint structure and drive mode. Modeling and assembly mechanism based on inventor, completed the design of humanoid biped robot mechanism, finally carries on the analysis of motion simulation and strength of humanoid biped robot, motion performance and the strength of the inspection organization, and further optimize the mechanism design.Keywords Humanoid biped robot，mechanism design， HYPERLINK /s?wd=motion%20simulation%20 \t _blank motion simulation，strength analysis 目录 TOC \o 1-1 \h \z \u HYPERLINK \l _Toc359350013 1 绪论 PAGEREF _Toc359350013 \h 3 HYPERLINK \l _Toc359350014 1.1 课题研究的意义 PAGEREF _Toc359350014 \h 3 HYPERLINK \l _Toc359350015 1.2 国内外仿人双足机器人发展现状 PAGEREF _Toc359350015 \h 3 HYPERLINK \l _Toc359350016 1.3 本课题研究的主要内容 PAGEREF _Toc359350016 \h 3 HYPERLINK \l _Toc359350017 2 仿人双足机器人机构设计 PAGEREF _Toc359350017 \h 3 HYPERLINK \l _Toc359350018 2.1 人体下肢分析 PAGEREF _Toc359350018 \h 3 HYPERLINK \l _Toc359350019 2.2 仿人双足机器人总体设计 PAGEREF _Toc359350019 \h 3 HYPERLINK \l _Toc359350020 2.3 仿人双足机器人关节设计 PAGEREF _Toc359350020 \h 3 HYPERLINK \l _Toc359350021 2.4 仿人双足机器人总体结构 PAGEREF _Toc359350021 \h 3 HYPERLINK \l _Toc359350022 2.5 本章小结 PAGEREF _Toc359350022 \h 3 HYPERLINK \l _Toc359350023