發(fā)布時(shí)間：2018-05-22 17:00

  本文選題：Jansen-leg + 足端運(yùn)動(dòng)軌跡　； 參考：《機(jī)械工程學(xué)報(bào)》2017年15期

【摘要】：通過(guò)基于標(biāo)準(zhǔn)Theo Jansen仿生腿(Jansen-leg)機(jī)構(gòu)研制出的小型仿生機(jī)器人實(shí)物樣機(jī)的性能測(cè)試,發(fā)現(xiàn)該機(jī)構(gòu)存在足端運(yùn)動(dòng)軌跡單一、地形適應(yīng)性差等不足之處,針對(duì)此進(jìn)行Jansen-leg機(jī)構(gòu)的系統(tǒng)優(yōu)化與革新設(shè)計(jì)。將雙邊測(cè)量中的距離方程應(yīng)用于標(biāo)準(zhǔn)型仿生腿的運(yùn)動(dòng)學(xué)建模,作為機(jī)構(gòu)優(yōu)化中動(dòng)態(tài)變換點(diǎn)的運(yùn)動(dòng)學(xué)分析的理論依據(jù)。通過(guò)可重構(gòu)的優(yōu)化設(shè)計(jì)方法,得到了能夠適應(yīng)趾行、避障、泥地、攀爬等運(yùn)動(dòng)的諸多新型足端運(yùn)動(dòng)軌跡模式。受到優(yōu)化設(shè)計(jì)過(guò)程和結(jié)果的啟發(fā),在繼承Jansen-leg機(jī)構(gòu)優(yōu)點(diǎn)的同時(shí)對(duì)其進(jìn)行機(jī)構(gòu)革新設(shè)計(jì)。設(shè)計(jì)的新機(jī)構(gòu)不但具有很好的越障性、通過(guò)性、足端運(yùn)動(dòng)軌跡模態(tài)多樣性,還具有控制簡(jiǎn)單、關(guān)節(jié)運(yùn)動(dòng)協(xié)調(diào)性好等諸多優(yōu)點(diǎn)。提高了該機(jī)構(gòu)對(duì)非結(jié)構(gòu)地形環(huán)境的適應(yīng)性,拓展了該機(jī)構(gòu)的應(yīng)用范圍。
[Abstract]:Through the performance test of the prototype of a small bionic robot based on the standard Theo Jansen bionic leg mechanism, it is found that the mechanism has some shortcomings, such as the single track of the foot end and the poor terrain adaptability. Aiming at this, the system optimization and innovation design of Jansen-leg mechanism are carried out. The distance equation in the bilateral measurement is applied to the kinematics modeling of the standard bionic leg, which is used as the theoretical basis for kinematics analysis of the dynamic transformation points in the mechanism optimization. Through the reconfigurable optimization design method, a number of new foot trajectory patterns are obtained, which can adapt to the movement of toe, obstacle avoidance, mud, climbing and so on. Inspired by the optimization design process and results, the mechanism innovation design is carried out while inheriting the advantages of Jansen-leg mechanism. The designed new mechanism not only has many advantages, such as good obstacle surmounting, passability, various modes of foot motion trajectory, but also simple control, good coordination of joint motion, and so on. The adaptability of the mechanism to the unstructured terrain environment is improved, and the application range of the mechanism is expanded.
【作者單位】： 中國(guó)科學(xué)技術(shù)大學(xué)精密機(jī)械與精密儀器系;西南科技大學(xué)制造過(guò)程測(cè)試技術(shù)省部共建教育部重點(diǎn)實(shí)驗(yàn)室;
【基金】：國(guó)家自然科學(xué)基金(51375410,61401379) 西南科技大學(xué)制造過(guò)程測(cè)試技術(shù)省部共建教育部重點(diǎn)實(shí)驗(yàn)室團(tuán)隊(duì)項(xiàng)目基金(13zxzk09)資助項(xiàng)目
【分類(lèi)號(hào)】：TP242
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本文編號(hào)：1922899