四足机器人系统设计方案.docVIP

聊城大学本科毕业论文 PAGE i 摘 要 四足机器人作为仿生机器人的一种，得到了广泛的研究。行走机构和转弯机构是四足机器人最关键的部分，目前，行走机构的研究大多采用在腿机构的关节处安装伺服电机进行驱动，增加了机器人的重量和控制策略的难度。并且，机器人本体大多是一个刚性整体，转弯机构研究不足。为此，项目将四足机器人本体作为一个柔性整体，采用三维建模软件Pro/E4.0设计了四足机器人的机械系统，提出了一种新颖的凸轮控制驱动式行走机构，设计了一种腿机构以及相应的凸轮控制驱动机构，并初步设计了柔性转弯机构。在此基础上，论文采用主从式控制方式设计了四足机器人的控制系统，重点讨论了以8051单片机为控制器的行走机构和转向机构的控制系统设计。 关键词：四足机器人；行走机构；凸轮驱动；控制系统；三维设计 Abstract Quadruped robot as one of biomimetic robots, has been extensively studied. Travel agencies and institutions is a quadruped robot turning the key, At the present, servo motor is installed in the leg joints of the most travel agencies, increasing the weight of the robot and the difficulty of the control system strategy . And most of the robot is a rigid body as a whole, and the research of the turning institutions is not fully studied . For this purpose, the project will take four-legged robot whole body as a flexible rigid body, and three-dimensional modeling software Pro/E4.0 is used for designing quadruped robot mechanical systems, a new travel agency based on cam control drive is proposed , a kind of leg mechanism and control of the corresponding cam drive mechanism is designed, and a flexible turning institution is preliminary designed. Based on this work, the control system of the robot was designed. Especially, control systems of the stepped mechanism and the wheel mechanism were analyzed detailed. Key words: quadruped robot; stepped mechanism; cam drive; control system ;three dimensional design; 目 录 TOC \o 1-2 \h \z \u HYPERLINK \l _Toc262542799 1.引言 PAGEREF _Toc262542799 \h 1 HYPERLINK \l _Toc262542800 1.1机器人及其相关技术的发展 PAGEREF _Toc262542800 \h 1 HYPERLINK \l _Toc262542801 1.2国内外四足行走机器人得研究概况 PAGEREF _Toc262542801 \h 2 HYPERLINK \l _Toc262542802 1.3机器人学主要涉及的学科内容 PAGEREF _Toc262542802 \h 4 HYPERLINK \l _Toc262542803 1.4 课题简介 PAGEREF _Toc262542803 \h 5 HYPERLINK \l _Toc262542804 2.机器人系统总体设计 PAGEREF _Toc262542804 \h 6 HYPERLINK \l _Toc262542805 2.1机器人系统结构概述 PAGEREF _Toc262542805 \