四足仿生机器人结构设计分析-structural design and analysis of quadruped bionic robot.docx

AbstractWhenfour-leggedrobotsarewalkingonunstructuredterrains,theyareusuallyundertheriskofinstabilityandunbalance.Howtodesigntherobotisthebasicandinitialproblemofachievingdynamicbalancingonallkindsofunstructuredterrains.Thisthesis,whichaimingatsolvethedesignoftherobot,completesthedesignandanalysisofthebio-inspiredquadrupedrobotfromtheaspectsofstructuredesignandforceanalysis,andfurtherverifiesthevalidityandeffectivenessthroughthesimulationandcomputationmethods.Firstly,thequadrupedrobotisdesignedbasedonthestructureoffour-leggedmammals.Thestructureofmammalsisanalyzedandobjectivesareproposed.Thestructureofrobotandlegsarecompletedandparametersarechosenbasedonbionics.Secondly,thestructureofthelegandrobotareanalyzedbasedonthefeatureofstructureandforceanalysisofquadrupedrobotunderdifferentworkingenvironment.Throughtheanalysisoftheleg,theworkingspaceiscalculated,andtheoutputtorquesarecalculatedandsimulated.Inaddition,thestructureoftherobotisanalyzedthroughforcecalculation.Furthermore,thestrengthofkeypartsarecalculatedwhichverifytheloadabilityandstrengthofthestructure.Finally,throughtheanalysisofstructureandforce,optimizationoftherobotandlegarefinishedrespectively.Amethodofforceoptimizationbasedoncompliancecontrolisproposedwhichprovideaneffectivewaytoimprovetheperformanceoftherobot.Co-simulationisappliedontheexperimentofsingleleghoppingwhichverifiesthereliabilityandeffectiveness.Keywords:Quadrupedrobot;Biomimetic;Modelinganddesign;Forceanalysis目录摘要..................................................................................................................IAbstract..................................................................................................................II目录.................................................................................................................III1绪论.............................................................................................................11.1课题来源.............................................................