基于运动学仿真的双足步行机器人设计与制作

本资料包含doc文件1个，下载需要5积分

基于运动学仿真的双足步行机器人设计与制作基于运动学仿真的双足步行机器人设计与制作

摘要：双足步行机器人是近年来机器人研究领域的热点，是智能机器人理论和技术的集中体现，涉及到许多的学科。为提高工程训练中心的机器人研究水平，拟开发-款机器人。研究任务是:做好双足步行机器人的基础性研究工作，构建起双足步行机器人总体研究框架，为后续研究工作奠定基矗具体内容如下:第-、综合分析国内外双足步行机器人研究现状及发展趋势，确定本论文的研究方向和内容。第二、对所研究的双足步行机器人进行机构分析，对机器人机构进行整体规划。选取了电机并确定了自由度。 第三、运用运动学的知识对双足步行机器人建立了运动学方程模型。第四、用动力学的知识对双足步行机器人建立了动力学方程模型。第五、虚拟样机进行了介绍，并对机器人的简化模型进行了示例分析♂论:本文对双足步行机器人的本体结构进行了研究，确定了机器人的自由度，并对机器人进行了运动学建模、动力学建模，运用虚拟样机技术对机器人的结构简化模型进行了分析示例，为以后的机器人实体的制作打下坚实的基矗
关键词:双足步行机器人;运动学模型;动力学模型;ADAMS;虚拟样机
Abstract：
Biped walking robot is a hot research field in recent years， It is the centralized
embodiment of intelligent robot theory and technology.It can drive the intersecting
development and advancement of many related subject and technology.From 1990s，the study on the biped walking robot has come into a new phase，Robot stars has come out.Now the humanoid robort leaguresRoboCup”andFIRA”have respectively organized the humanoid soccer robot game successfully，which provide a new apporach and enviroment for us to research humanoid robot.To improve the level of our schools robotics research，intended to develop a robot.My task is to do the basic research work on the humanoid soccer robort and construct the whole study frame in order to build the foundation for the future work. The detailed contents Include：Firstly， Analysis the study situation and the development trend of the robot research allover the world .Indentified the meaning of studying the humaniod robot，confirm the study direction and the content.Secondly， Analysis the structure of the biped walking robot ，build up the whole structureof biped walking robot. Select the motor and determine the degree of freedom.Thirdly， Establishment the kinematics equation of biped walking robot.Fourthly， Establishment the dynamic equations of biped walking robot. Fifthly， Introduced the virtual prototyping technology and analysis the model of Bipedwalking robot.Conclusion:this paper， research the structure of biped walking robot ，determine the degree of freedom robot，.Establishment kinematics equation and dynamic equations of biped walking robot，.Introduced the virtual prototyping technology and analysis the model of Biped walking robot. Construct the whole study frame in order to build the foundation for the future work.
Key Words: Biped Walking Robot; Kinematic Model; Dynamic Model; Adams;Virtual Prototyping