發(fā)布時(shí)間：2018-06-02 13:24

  本文選題：仿人機(jī)器人 + 仿生足踝部　； 參考：《合肥工業(yè)大學(xué)》2017年碩士論文

【摘要】：足踝部是人體下肢行走過程中與地面直接接觸的部分,不但承受著人體的重量,還能緩沖和吸收來自地面的沖擊,推動(dòng)人體穩(wěn)定、柔順的前進(jìn)。為了使仿人機(jī)器人足踝部具有和人體足踝部相同的行走特性,本文從仿生學(xué)角度出發(fā),參照了人體足踝部的基本結(jié)構(gòu),以及運(yùn)動(dòng)學(xué)和生物力學(xué)特征,設(shè)計(jì)一種具有兩自由度柔性踝關(guān)節(jié)和足弓、足趾結(jié)構(gòu)的仿生足踝部模型及其驅(qū)動(dòng)模型,該模型將有助于仿人機(jī)器人穩(wěn)定、柔順、低功耗的行走。全文主要包括三個(gè)方面的主要內(nèi)容:(1)通過對(duì)人體足踝部的解剖學(xué)結(jié)構(gòu)和運(yùn)動(dòng)特征的研究,了解到足踝部在人體正常步行過程中起主要作用的結(jié)構(gòu),以及該結(jié)構(gòu)的運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)特征,并按仿生學(xué)原理初步設(shè)計(jì)了仿人機(jī)器人足踝部模型和驅(qū)動(dòng)模型,繪制出了結(jié)構(gòu)簡(jiǎn)圖。(2)結(jié)合人體足踝部的實(shí)際尺寸,在Pro/engineer中建立仿生足踝部的三維實(shí)體模型,再結(jié)合人體足踝部的運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)數(shù)據(jù),在Pro/engineer的機(jī)構(gòu)運(yùn)動(dòng)仿真模塊中進(jìn)行靜態(tài)仿真,得到仿生足踝部模型中彈簧和阻尼器的參數(shù),以及柔索驅(qū)動(dòng)力的大小。(3)結(jié)合人體足踝部的足底壓力,以及柔索驅(qū)動(dòng)力,在ADAMS軟件中,通過定義模型的密度、約束和力驅(qū)動(dòng),創(chuàng)建仿生足踝部的動(dòng)力學(xué)模型。設(shè)置合理的仿真參數(shù)對(duì)該模型進(jìn)行動(dòng)力學(xué)仿真,并將主要結(jié)構(gòu)的仿真結(jié)果與實(shí)驗(yàn)數(shù)據(jù)進(jìn)行對(duì)比分析,驗(yàn)證模型的可行性。通過動(dòng)力學(xué)仿真結(jié)果與實(shí)驗(yàn)數(shù)據(jù)的對(duì)比可以看出,仿生足踝部模型在仿人機(jī)器人行走的支撐相中,能夠比較精確的模仿人體足踝部的運(yùn)動(dòng)特征,彈簧和阻尼器的添加也改善了仿生足踝部的柔性。仿生足踝部模型通過對(duì)人體足踝部的仿生,解決了仿人機(jī)器人下肢行走不穩(wěn)定性和柔順性的問題,降低了機(jī)器人行走的能量消耗,為仿人機(jī)器人足踝部的設(shè)計(jì)研究提供了一種新的思路。
[Abstract]:Foot and ankle is a part of human lower limb walking in direct contact with the ground, not only bear the weight of the human body, but also buffer and absorb the impact from the ground, promote the human body to move forward steadily and meekly. In order to make the humanoid robot have the same walking characteristics as the human feet and malleolus, the basic structure, kinematics and biomechanical characteristics of the human ankles are referred to in this paper from the biomimetic point of view. A bionic ankle model with two degrees of freedom flexible ankle, arch and toe structure and its driving model are designed. The model will be helpful for the humanoid robot to walk stably, smoothly and with low power consumption. The full text mainly includes three aspects: (1) by studying the anatomical structure and movement characteristics of the human foot and ankle, we have learned about the structure of the ankle that plays a major role in the normal walking process of the human body. And the kinematics and dynamics characteristics of the structure. According to the principle of bionics, the model and driving model of humanoid robot foot and ankle are designed, and the structure schematic diagram is drawn, which combines the actual size of human foot and ankle. The three-dimensional solid model of biomimetic ankle and foot is established in Pro/engineer, and the parameters of spring and damper in the model of bionic foot and ankle are obtained by static simulation in the mechanism motion simulation module of Pro/engineer combined with kinematics and dynamics data of human foot and ankle. In ADAMS software, the dynamic model of biomimetic ankle is established by defining the density, constraint and force drive of the model. The dynamic simulation of the model is carried out by setting reasonable simulation parameters, and the simulation results of the main structures are compared with the experimental data to verify the feasibility of the model. By comparing the dynamic simulation results with the experimental data, it can be seen that the biomimetic ankle model in the walking phase of the humanoid robot, can more accurately imitate the movement characteristics of the human foot and ankle. The addition of springs and dampers also improves the flexibility of the bionic ankle. The biomimetic model of ankle and foot solves the problem of instability and compliance of walking in the lower extremities of humanoid robot, and reduces the energy consumption of walking of robot. It provides a new idea for the design and research of humanoid robot foot and ankle.
【學(xué)位授予單位】：合肥工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

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本文編號(hào)：1968916