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目前,相比传统的轮式机器人,离散性运动的跳跃机器人具有更好的移动性能,得到了广泛的应用.本文从仿生学角度出发,选择具有优秀跳跃性能和合理运动结构的青蛙作为研究对象,建立了平面连杆机构仿青蛙机器人跳跃模型.在该模型的基础上,建立了仿青蛙机器人起跳阶段的运动学和动力学模型,得到了起跳阶段机器人各关节力矩与各关节运动轨迹,质心速度,质心加速度间的关系.结合遗传算法,对机器人在起跳阶段的跳跃轨迹进行了优化.在此基础上,从能量角度出发,对机器人在腾空阶段的跳跃轨迹进行了优化,得到了机器人最佳的跳跃轨迹.结合Matlab仿真分析,验证了方案的正确性和可行性.
At present, compared with the traditional wheeled robots, discrete moving jump robots have better mobility and are widely used.Based on the bionics, the frog with excellent jumping performance and reasonable motion structure is selected as the research object , A robot jump simulation model of frog robot with a planar linkage was established.Based on the model, the kinematics and dynamics model of the robot frog jumping stage was established, and the joint moments and the trajectories of the joints were obtained during the take-off phase. The centroid Speed and centroid acceleration, the hopping trajectory of the robot in the take-off phase is optimized by genetic algorithm.On the basis of this, the hopping trajectory of the robot in the vacating phase is optimized from the energy point of view, Good jumping trajectory.According to Matlab simulation analysis, the correctness and feasibility of the scheme are verified.