毕业设计（论文）-四足爬行机器人设计.docx

PAGE I 四足爬行机器人设计 摘 要 本课题是设计四足爬行机器人的防撞躯干以及它的四肢。四足爬行机器人防撞性取决于材料的刚度和强度，身体躯干的造型也是防撞性的一个要求。不一样的结构其受冲击的强度也不一样。腿部自由度设置：每条腿 3 个主动自由度（髋部前后、髋部上下、膝部上下）和 1 个被动自由度（踝部）。主动自由度拟采用电机驱动；被动自由度由弹簧实现。由于整体的的设计工作比较多，所以我只负责设计机械结构这一部分，这一部分包括了防撞框架选用的金属材料，对其进行三维建模和静力学分析，四足机器人的每条腿连接的连接方式，每一足采用不同的伺服电机控制两个连杆，共采用 8 个伺服电机控制，通过不同的转速，实现行稳定性要求以及四条腿的收缩及三个自由度的分析。 关键词：防撞框架、四足爬行、自由度、电机驱动、模仿行走机构 全套图纸加扣 3346389411或3012250582 PAGE III Four-legged crawling robot design Abstract This subject is to design a four-legged crawling robot anti-colli sion torso and its limbs. The crashedness of the four-legged crawling robot depends on the stiffness and strength of the material, and the spring is added to enhance the impact buffering effect through the trunk frame structu redesign. Leg freedom setting: each leg has 3 active degrees of freedom ( front and back of hip, upper and lower of hip, upper and lower of knee) a nd 1 passive degree of freedom (ankle). The active degree of freedom is i ntended to be driven by motor and driven by gear (or worm gear). Passive degrees of freedom are achieved by springs. As a result of the overall design work is more, so I only this part is responsible for the design of mech anical structure, this part includes collision avoidance framework USES of metal materials, on the 3d modeling and static mechanics analysis, each leg of the quadruped robot connection mode of connection, the requirem ent of stability and the four legs contraction and the analysis of the three d egrees of freedom. Key words:anti-collision frame, four-legged crawl, degree of freedom, m otor drive, imitation walking mechanism 目 录 TOC \o 1-3 \h \z \u 摘 要 I Abstract II 一、绪论 1 1.1 研究课题的意义 1 1.2 国内研究现状 1 1.3 国外研究现状 2 1.4 发展趋势 3 二、四足爬行机器人的总体设计方案 4 2.1 四足机器人腿部结构确定 4 2.2 腿部机构类型优缺点分析 4 ? 5 2.3 腿部结构类型分析 6 2.4 腿部结构结构方案确定 8 2.5 四足爬行机器人腿部驱动设计 9 2.6 四足爬行机器人的躯干设计 13 2.7 四足爬行机器人的整体结构设计 15 三、四足机器人相关部件设计计算 17 3.1 自由度的计算 17 3.2 机器人腿部力学计算分析 17 3.3 连杆三(膝关节)静力矩的计算