变摩擦系数环境下直线电机驱动的仿生尺蠖机器人-机械电子工程专业论文.docxVIP

华中科技大学硕士学位论文 华 中 科 技 大 学 硕 士 学 位 论 文 II II Abstract As an important research branch in the field of robotics, bionic robot has always been a hot research topic in recent years, all kinds of research object of the nature are design models. Inchworm belongs to invertebrates. Due to the lack of slip in the middle of the body, it moves in stretch characteristic gaits. The scientists are great interested in the uniqueness of its movement because that the movement of inchworm mechanism has certain reference and application value of bionics in the structure design of tiny mobile robots. This paper designs a kind of bionics inchworm robot based on the use of linear motor and the principle of friction coefficient changed. It dose detailed analysis on movement principle, mechanical structure, motion description and simulation test. The paper simulates the movement characteristics of bionic inchworm and put forward overall structure which combines wheel and creep type. It discusses the movement gaits and turning mechanism design, verifies the certainty of the robot motion through the analysis of the freedom of the robot. It lists the related calculation formula of different turning situation of the robot and dose the finite element analysis on the key hinge, which ensuring it works within the safe scope of the strain. Establish the mathematical model of inchworm robot to describe its motion. Using the homogeneous coordinate transformation, establish a transformation matrix relationship between the coordinate systems and get three dimensional space coordinates of the robot relative to the initial state geodetic coordinate system. At last, the paper introduces the robot simulation test results. In the environment of the three-dimensional design software Solidworks Motion Analysis, measure the datas of friction force, displacement, turning Angle and space coordinate in the process of the movement of the inchworm robot and the results are consistent with the content above. Keyword