仿生机器人运动性能与控制策略研究

仿生机器人运动性能及控制策略研究摘要：三连杆式仿袋鼠腿式机器人是一种常见的仿生机器人，其设计灵感来自于自然界中的袋鼠。其具有结构简单、稳定行好、地形适应性强的特点，广泛运用于复杂环境下的探索、救援等任务。为了提高三连杆式仿袋鼠腿式机器人在不同的环境下实现高效的移动和操作，本文采用的理论和仿真分析相结合的方式对其运动性能及控制策略展开了研究，主要的工作如下：首先，充分借鉴袋鼠的跳跃机理，详细设计了三连杆式仿袋鼠腿式机器人。针对所设计的机器人，采用D-法构建了其正、逆运动学模型，进一步地采用拉格朗日法推导了其动力学模型，结合运动学和动力学模型，分析了机器人在运动过程中稳定姿态的关节角度映射关系，为控制策略的合理选取提供了基础。其次，针对系统模型的强耦合性、强非线性的特性，ADAMS/iew软件对仿袋鼠腿式机器人进行了仿真分析，获得了机器人越障性能和运动性能。最后，为了提高机器人的运动稳定性，采用了基于LQ控制器对机器人进行站立和运动时的平衡控制，并基于ADAMS与MATLAB/Simulink联合仿真平台，对LQR控制方法进行仿真验证，获得了Q和R矩阵的参数，从而保证了机器人的稳定运动性能。综上所述，本文通过仿袋鼠腿式机器人的研究，构建了其运动学、动力学模型，探索了ADAMS仿真、ADAMS与MATLAB/Simulink联合仿真等技术，为仿袋鼠腿式机器人的结构设计及稳定行控制提供了理论支持。关键词：仿生机器人；运动学模型；动力学模型：联合仿真；LQRResearch on Motion Performance and Control Strategy ofBionic RobotAbstract:The three-link kangaroo-like leg robot is a common bionic robot,and itsdesign is inspired by kangaroos in nature.It has the characteristics of simple structure,stable operation and strong terrain adaptability,and is widely used in exploration,rescue and other tasks in complex environment.In order to improve the three-linkkangaroo-like leg robot to move and operate efficiently in different environments,thispaper studies its motion performance and control strategy by combining theory withsimulation analysis.The main work is as follows:Firstly,a three-link kangaroo-like leg robot is designed in detail based on thejumping mechanism of kangaroo.For the designed robot,the forward and inversekinematics models are constructed by D-H method,and the dynamic model is furtherderived by Lagrange method.Combining the kinematics and dynamic models,thejoint angle mapping relationship of the robot's stable posture during the movement isanalyzed,which provides a basis for the reasonable selection of control strategy.Secondly,in view of the strong coupling and nonlinear characteristics of the systemmodel,ADAMS/View software is used to simulate and analyze the kangaroo-like legrobot,and the robot's obstacle-crossing performance and motion performance areobtained.Finally,in order to improve the motion stability of the robot,the LORcontroller is used to balance the robot when standing and moving.Based on the jointsimulation platform of ADAMS and MATLAB/Simulink,the LQR control method issimulated and verified,and the parameters of Q and R matrices are obtained,thusensuring the stable motion performance of the robot.To sum up,through the research of kangaroo-like leg robot,this paper constructsits kinematics and dynamics model,and explores ADAMS motion simulation,ADAMS and MATLAB/Simulink joint simulation and other technologies,whichprovides theoretical support for the structural design and stable line control ofkangaroo-like leg robot.Keywords:Bionic robot;Kinematic model;Dynamic model;Joint simulation;LQR目录】绪论…1.1研究背景及目的1.2研究现状.21.2.1国外研究现状21.2.2国内研究现状1.3论文结构安排.62仿袋鼠机器人系统模型建立与分析2.1引言.72.2机械结构设计..72.2.1总体结构设计..72.2.2云台部分结构设计.82.2.3三连杆腿部结构设计…82.3电机选型92.3.1云台舵机的选型….92.3.2驱动电机的选型102.4机器人运动学分析..102.4.1机器人正运动学112.4.2机器人逆运动学.142.5本章小结183仿袋鼠机器人运动学仿真分析193.1 ADAMS./VIEW仿真流程193.2机器人运