基于Solidworks跳跃机器人腿部机构的模型建立及运动仿真.docx

基于solidworks跳跃机器人腿部机构模型建立及运动仿真
摘要:基于对青蛙生物特征和跳跃运动机理的分析,对复杂的关节、骨骼结构进行简化,提出了一种面向跳跃运动的机构模型,并进行仿青蛙跳跃机器人设计。机器人前肢简化为一个主动肩关节和一个被动肘关节,后肢采用五杆机构作为腿部主体,并增加脚掌和被动附拓关节以保证跳跃和着陆时的稳定性,骸关节具有后摆和外摆两个自由度以调整跳跃的姿态、方向和轨迹。机器人可以调整多种起跳姿态以满足不同的跳跃要求;后肢通过单电机分时控制实现跳跃、空中收腿和能量调节动作,具有较高的功率密度;后肢五杆机构具有与青蛙跳跃时相似的力学规律,起跳时通过与脚掌配合,可以降低提前离开地面的可能,从而降低了能量损耗,模型建立后即可仿真。
关键词:跳跃机器人,青蛙,机构设计,仿真
Based on solidworks jumping robot leg mechanism modeling and movement simulation
Abstracts:Based on the analysis of biological characteristics and jumping movement mech mechanism, frog'plex joint and skeleton structure is simplified. A mechanicalmodel is put forward and the frog jumping robot is designed. The robot's forelimb issimplified as one active shoulder joint and one passive elbow joint for the functionof supporting and stance adjusting. The 5-bar lingkage mechanism is used as themain part of the hindlimb, The two DOFs of coxa joint areused for adjusting the pose, direction and trajectory of jump . The robot couldAchieve multi-stance to satisfy different demand for jump. The hindlimb could realizethe movement of jump, leg constriction in air and energy adjusting by single motion,which owns high density of actuator. The 5-bar linkage mechanism of hindlimbcooperated with foot has similar process of the thrust force with frog during take -offphase,which possesses the advantages of low likehood of premature lift-off and low.
Keywords: jumping robot, frog, mechanism design ,simultion animation
目录
1前言 1
3
3
跳跃机器人研究现状 4
研究方法分类 4
. 运动方式分类 6
7
跳跃机器人相关介绍 7
两种连续的跳跃机构 7
离心力激励型 10
课题的研究意义 13
14
14
仿青蛙跳跃机器人机构模型研究 14
14
15
16
16
17
19
机器人机械本体 27
相关零件图 28
仿青蛙机器人跳跃控制流程 37
本章小结 38
39
结论 40
参考文献 41
致谢 44

1前言
机器人一般分为两大类,即工业机器人和特种机器人。所谓工业机器人就是面向工业领域的多关节机械手或多自由度机器人。而特种机器人则是除工业机器人之外的、用于非制