仿壁虎爬行机器人运动步态研究
摘 要:
在自然界中壁虎凭借着脚底强大的吸附能力以及能轻松外翻、内收、扭转的脚趾对脚底刚毛的灵活控制能力成就它超凡的能力。以此其进行研究对机器人的设计是十分必要的。
本文以壁虎为仿生对象介绍当代仿壁虎机器人研究背景及意义。分析了仿壁虎机器人的研究方向。主要对壁虎的运动过程进行研究,设计规划了几种步态并进行仿真研究。并对脚掌进行显微研究,对仿壁虎刚毛列阵的制造技术研究。最后通过研究分析,对仿壁虎机器人的结构及控制原理进行设计。
关键词:仿壁虎机器人;爬壁机器人;步态规划;
Gait Design for a Bionic Gecko Crawling Robot
Abstract:
In nature with foot strong adsorption gecko ability and can easily evaginate, adduction, reverse toes on foot bristles flexible control the ability of achievement it extraordinary ability. This study them on the robot design is very necessary.
Based on gecko for bionic object introduces contemporary gecko robot research background and significance. Analyses the gecko robot research direction. The movement process of gecko mainly studied, design planning several gait and for simulation. And on foot, microscopic study of the array gecko bristle manufacturing technology research. Finally, through research and analysis on the structure of the gecko robot design and control principle.
Key words:Gecko inspired robot; wall-climbing robot; gait planning;
目 录
1 绪论 ............................................................. 1 1.1引言 ............................................................ 1 1.2壁虎机器人的发展状况及其重要性 .................................. 1 1.3国内外壁虎机器人的研究成果 ...................................... 2 1.4壁虎机器人研究面临的问题 ........................................ 3 1.5本文的主要研究内容 .............................................. 3 2 壁虎的运动机理研究 ............................................... 4 2.1引言 ............................................................ 4 2.2 壁虎运动步态研究 ............................................... 4 2.3 壁虎爬壁机理研究 ............................................... 5 2.4本章小结 ........................................................ 5 3 壁虎机器人脚掌粘性材料研究 ....................................... 6 3.1引言 ............................................................ 6 3.2壁虎脚掌的微观结构及吸附机理 .................................... 6 3.3仿壁虎刚毛阵列的制造技术 ........................................ 7 3.4本章小结 ........................................................ 8 4 壁虎机器人机构设计 ............................................... 8 4.1引言 ............................................................ 8 4.2机构设计的基本思想 .............................................. 8 4.3壁虎机器人腿部方案设计 .......................................... 8 4.4稳定性度量 ...................................................... 9 4.5对角步态规划 ................................................... 10 步态规划 ...................................................... 10 步态仿真 ...................................................... 12 4.6三角步态规划 ................................................... 16 4.7基于电机驱动方案的机构设计 ..................................... 17
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仿壁虎爬行机器人运动步态研究【毕业作品】
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