导　　师： 蔡鹤皋

学科专业： 080202

授予学位： 硕士

作　　者： ;

机构地区： 哈尔滨工业大学

摘　　要： 仿生青蛙跳跃机器人由于其越障能力强，能适应不同的地表，具有很强的环境适应能力，已经成为目前国内外研究的热点。本文在对生物青蛙肌骨骼系统进行研究的基础上，采用气动肌肉作为驱动元件，设计并研制了一种新型仿青蛙弹跳腿机构。对机器人进行建模，并对运动学、动力学和起跳轨迹规划进行了分析，通过计算机仿真和实物样机跳跃实验验证了跳跃机构设计的合理性。 首先通过对国内外现有资料进行分析，总结出青蛙在跳跃过程中各关节运动轨迹规律；通过对青蛙跳跃的运动特征以及跳跃过程中腿部肌肉的伸缩情况进行分析，得出影响肌肉作用效果的因素；为了能够有效模仿生物肌肉的特性，采用Mckibben型气动肌肉作为驱动，研制出一种以气动肌肉为驱动的仿青蛙弹跳机构，并建立仿青蛙跳跃机器人的电气机械系统模型。 将机器人的运动学分析分为地面阶段和腾空阶段，运用D-H方法分别对其进行运动学建模，对这两个阶段的正运动学和逆运动学问题分别进行求解。膝关节和踝关节的双关节机构采用曲柄滑块机构实现，对气动肌肉的收缩量问题进行分析，建立机器人运动与肌肉收缩量之间的转换关系。 运用拉格朗日法建立了机器人跳跃过程的动力学方程。通过求解动力学逆问题，可以确定机器人在已知运动规律下的关节转矩大小。同时为了进行弹跳性能的分析，利用基于遗传算法的轨迹规划方法，以最小关节转矩为优化目标，在关节空间对机器人运动进行分析。 在ADAMS虚拟环境中，利用弹簧阻尼单元模拟气动肌肉输出，对仿青蛙机器人的运动进行仿真。最后利用所研制的仿青蛙弹跳腿样机，进行了垂直跳跃实验与跳箱子实验，仿真和实验效果验证了气动肌肉驱动的仿青蛙弹跳机器人设计的可行性。 As bionic hopping robots have the characters of strong obstacle-overleapingability and great field and environment adaptability, the relative research is apopular subject, recently. In the paper, pneumatic muscles are utilized as the driver,in terms of musculoskeletal system bionics. The model of the frog-inspired hoppingrobot is established, and kinematic and dynamic analysis, trajectory planning,motion simulation, and experiments are carried out in the paper. Frog joints trajectories during jumping are analyzed according to referencesabout hopping robot domestic and overseas, and the factors of muscle performanceare obtained through the analysis of frog jump ing characters and the extensormotion during jumping. To simulate frog muscles, Mckibben pneumatic muscles arechosen to be drivers. A hopping mechanism powered by pneumatic muscles isdeveloped, and the robot pneumatic-mechatronic model is established. Frog motion is divided into two phases, the ground phase and the flight phase.The kinematic model is established and the direct and inverse kinematic problemsare analyzed through D-H method. Crankslider mechanis ms are designed in the hipand knee joints to make the muscles in bioarticular form. The muscle contraction isanalyzed, and the transformation between robot motion and muscle contraction isestablished. The robot dynamic equations are established according to the Lagrangianmethod. The driving torque of each joint can be computed by inverse dynamicanalys is. To analyze the jumping performance, the trajectory planning in joint spacebased on the Genetic Algorithm/(GA/) is developed, and the optimum is to minimizethe joint torque. The simulation in ADAMS is carried out to describe the jumping motion, andthe spring-damping units are utilized to simulate the pneumatic muscles. Finally,frog-inspired hopping leg was developed experiments of vertical jumping andjumping into a box were conducted with the frog-inspired hopping leg that wasdeveloped, validating the feasibility of the pneumatic frog-i

关 键 词： 跳跃机器人 仿青蛙 气动肌肉 运动学 动力学 轨迹规划

领　　域： [自动化与计算机技术] [自动化与计算机技术]