仿青蛙跳跃机器人的研制机械电子工程专业论文.docx

运动学和动力学分析是机器人姿态调整、跳跃轨迹规划和实时控制的基础。 对机器人准备和跳跃的各个阶段进行了正、逆运动学分析，建立了运动学方程， 研究了腾空阶段机器人前后肢末端的运动空间。针对机器人前后肢结构复杂、 不利于动力学分析的问题，基于虚功原理对其行了简化，建立了前肢和后肢运 动模型，然后对机器人起跳、腾空和着陆三个阶段以及离地和触地两个瞬时进 行了动力学分析，建立了起跳阶段后肢动力学方程、腾空阶段机器人运动方程、 着陆阶段前肢动力学方程、离地瞬时起跳判据和触地瞬时翻转判据，并通过仿 真验证了运动学和动力学方程的正确性。 机器人的跳跃轨迹规划是使其运动满足指标要求的重要手段，是跳跃机器 人完整路径规划的基础。针对动力学方程多变量和非线性造成轨迹规划算法复 杂的问题，首先对机器人跳跃轨迹进行分析，然后提出了基于遗传算法的机器 人跳跃轨迹多参数多目标规划方法，建立了机器人跃过各种典型地形应满足的 约束条件，以跳跃稳定性、安全性、能量消耗和水平跳跃距离为目标函数，对 机器人跨越水平沟渠的跳跃进行了轨迹规划实验，通过动力学计算和仿真验证 了该方法的有效性。 最后，采用分级和模块化思想，设计了机器人上位机进行运动规划、嵌入 式控制器进行关节控制的控制系统，然后对机器腿单元跳跃、机器人姿态调整 和机器人水平跳跃做了实验研究，并且将机器人跳跃与青蛙跳跃过程进行对比 分析，实验结果表明了以仿生学方法提取出的机构模型的有效性、仿青蛙跳跃 机器人结构设计的合理性和理论分析的正确性。 关键词：跳跃机器人；青蛙；运动机理分析；动力学；轨迹规划 Abstract The research on biomimetic jumping robot is a forward positional task in robot field. The robot owns the feature of reasonable, agile and high-efficiency in structure and movement like biosome, whose jumping movement could adjust to different ground, realize getting across cannal and obstacle. The robot reveals excellent ability on movement territory and avoiding risk, so it is suitable to achieve the task such as spying, detecting, rescue, anti-terror and so on in non-frame and indeterminism circumstance instead of human. It is important for theory research and has wide application prospect. Frog’s jumping movement has the characteristic of strong burst and long distance, the robot that owns this ability could cross obstacle easily and has good adaptability for circumstance. Therefore, this paper selects frog as study target to do research on frog-like jumping robot. Considering that the trajectory and the stance of frog jumping movement are the basis of the research on the biological jumping mechanism of biomimetic robot design, a new method of trajectory extraction from animal’s movement is presented. And the 3D coordinate of the joint is obtained after perspective effect and iteration correction. To overcome the shortcoming of large amount of calculation, a program is designed to deal with the