工学硕士学位论文 仿生机器蛙跳跃机理分析及运动仿真 关山原野 哈尔滨工业大学 2007年7月
工学硕士学位论文 仿生机器蛙跳跃机理分析及运动仿真 关山原野 哈尔滨工业大学 2007 年 7 月
国内图书分类号：TP242.2 国际图书分类号：621.51 工学硕士学位论文 仿生机器蛙跳跃机理分析及运动仿真 硕士研究生：关山原野 导 师：赵杰教授 申请学位：工学硕士 学科、专业：机械电子工程 所在单位：机电工程学院 答辩日期：2007年7月 授予学位单位：哈尔滨工业大学
国内图书分类号：TP242.2 国际图书分类号：621.51 工学硕士学位论文 仿生机器蛙跳跃机理分析及运动仿真 硕士研究生 ： 关山原野 导 师 ： 赵杰教授 申请学位 ： 工学硕士 学科、专业 ： 机械电子工程 所在单位 ： 机电工程学院 答辩日期 ： 2007 年 7 月 授予学位单位 ： 哈尔滨工业大学
Classified Index:TP242.2 U.D.C:621.51 Dissertation for the Master Degree in Engineering RESEARCH ON THE HOPPING PRINCIPLE AND SIMULATION OF BIONIC FROG HOPPING ROBOT Candidate: Guan Shanyuanye Supervisor: Prof.Zhao Jie Academic Degree Applied for: Master of Engineering Speciality: Mechantronics Engineering Affiliation: School of Mechatronics Engineering Date of Defense: July,2007 University: Harbin Institute of Technology
Classified Index: TP242.2 U.D.C: 621.51 Dissertation for the Master Degree in Engineering RESEARCH ON THE HOPPING PRINCIPLE AND SIMULATION OF BIONIC FROG HOPPING ROBOT Candidate： Guan Shanyuanye Supervisor： Prof. Zhao Jie Academic Degree Applied for： Master of Engineering Speciality： Mechantronics Engineering Affiliation： School of Mechatronics Engineering Date of Defense： July, 2007 University： Harbin Institute of Technology
哈尔滨工业大学工学硕士学位论文 摘要 跳跃式机器人具有运动灵活性高、越障能力强等特点，能够适应非结构 化、未知的工作环境，它在考古探测、星际探险、军事侦察、反恐活动中都 有广泛的应用前景，因此开展跳跃机器人的研究具有重要的实际应用价值。 经过千百万年的进化，生物体身体结构和运动方式体现出相当的合理性、 科学性、进步性。为了将生物的这些优势运用在机器人的设计中，本文选择 了从仿生角度来设计跳跃机器人。 首先，针对运动机理分析所需的青蛙跳跃运动轨迹，提出了一种采用一 台高速摄像机获取生物运动轨迹三维信息的提取方法，并对这种方法进行了 实验验证和误差分析，以确保方法的正确性。根据这种实验方法对图像分析 的需要，编制了青蛙运动轨迹的提取程序，进行了数据处理与分析。基于这 种方法，进行了青蛙跳跃运动轨迹的提取实验，获得所需信息，以便做运动 机理分析。 其次，从解剖学和行为方式两方面研究青蛙的跳跃运动机理，通过分析 青蛙骨骼结构、质量分布及其跳跃运动特征，抽象出仿青蛙跳跃机器人机构 模型并建模。之后基于对模型的运动学分析和计算，验证了模型在模仿青蛙 跳跃轨迹方面的正确性，并利用此模型对青蛙的跳跃过程进行了仿真，揭示 了青蛙跳跃时的力学规律。 最后，基于青蛙的特点及跳跃机理，使用平行四边形跳跃机构替代了青 蛙多关节串联跳跃机构，对其构成的非线性弹簧质量块模型进行了分析，并 进行了仿生机器蛙的设计及仿真。 本文提出的空间运动轨迹采集方法，青蛙跳跃运动机理分析结果以及对 模型的运动学分析和计算，为仿生机器蛙的设计及运动控制提供了理论基础， 也为其他仿生机器人的研究提供了可参考的方法。 关键词青蛙；跳跃机器人；仿生：跳跃机理；运动学 I
哈尔滨工业大学工学硕士学位论文 I 摘要 跳跃式机器人具有运动灵活性高、越障能力强等特点，能够适应非结构 化、未知的工作环境，它在考古探测、星际探险、军事侦察、反恐活动中都 有广泛的应用前景，因此开展跳跃机器人的研究具有重要的实际应用价值。 经过千百万年的进化，生物体身体结构和运动方式体现出相当的合理性、 科学性、进步性。为了将生物的这些优势运用在机器人的设计中，本文选择 了从仿生角度来设计跳跃机器人。 首先，针对运动机理分析所需的青蛙跳跃运动轨迹，提出了一种采用一 台高速摄像机获取生物运动轨迹三维信息的提取方法，并对这种方法进行了 实验验证和误差分析，以确保方法的正确性。根据这种实验方法对图像分析 的需要，编制了青蛙运动轨迹的提取程序，进行了数据处理与分析。基于这 种方法，进行了青蛙跳跃运动轨迹的提取实验，获得所需信息，以便做运动 机理分析。 其次，从解剖学和行为方式两方面研究青蛙的跳跃运动机理，通过分析 青蛙骨骼结构、质量分布及其跳跃运动特征，抽象出仿青蛙跳跃机器人机构 模型并建模。之后基于对模型的运动学分析和计算，验证了模型在模仿青蛙 跳跃轨迹方面的正确性，并利用此模型对青蛙的跳跃过程进行了仿真，揭示 了青蛙跳跃时的力学规律。 最后，基于青蛙的特点及跳跃机理，使用平行四边形跳跃机构替代了青 蛙多关节串联跳跃机构，对其构成的非线性弹簧质量块模型进行了分析，并 进行了仿生机器蛙的设计及仿真。 本文提出的空间运动轨迹采集方法，青蛙跳跃运动机理分析结果以及对 模型的运动学分析和计算，为仿生机器蛙的设计及运动控制提供了理论基础， 也为其他仿生机器人的研究提供了可参考的方法。 关键词 青蛙；跳跃机器人；仿生；跳跃机理；运动学
哈尔滨工业大学工学硕士学位论文 Abstract Hopping robot,which has excellent flexibility of movement and strong ability of getting over barriers,is suitable for working in the complicated and unpredictable environment,and has very good application prospects in archaeological exploration,interstellar exploration,military reconnaissance, anti-terrorism activity.Therefore,it is of great practical value to carry on the research on the hopping robot. With the evolution of a great amount of years,the body structure and movement from of life have indicated their rationalities,scientificalness and advancement.To use these advantages of life in the process of robot design,the bionic method is needed in the process of hopping robot design. First of all,to answer the question how to obtain the 3D information of the frog's jumping process,the method to gain the 3D trajectory with a high-speed camera has been designed,which has been proved by experiments.The error of this method has also been analyzed.Then,a program,used in the data processing and analyse,is designed and written to meet the need of working out the useful information of the frog's movement from the image shot by the camera.Whit the help of this method and the program,the information of frog's jumping process is gained by an experiment. Secondly,in order to study the principle of frog's jumping movement,the mechanism model of bionic frog hopping robot is built after the analyze of frog skeleton,mass distributing and the steps of frog's jumping.Then,following the analyse and calculation of the kinematics of this model,which supplies the proof that the model is suitable to simulate the frog jumping movement,the simulation of jumping process of this mechanism model is carried out in ADAMS,which gives out the mechanics law of frog jumping. Finally,based on the characteristic of frog and the principle of frog's jumping movement,parallelogram hopping mechanism is used instead of the frog hopping mechanism with many series-wound joints.The model of parallelogram hopping mechanism non-linear spring and mass block is analyzed,followed by the design and simulation of the bionic frog hopping robot
哈尔滨工业大学工学硕士学位论文 II Abstract Hopping robot, which has excellent flexibility of movement and strong ability of getting over barriers, is suitable for working in the complicated and unpredictable environment, and has very good application prospects in archaeological exploration, interstellar exploration, military reconnaissance, anti-terrorism activity. Therefore, it is of great practical value to carry on the research on the hopping robot. With the evolution of a great amount of years, the body structure and movement from of life have indicated their rationalities, scientificalness and advancement. To use these advantages of life in the process of robot design, the bionic method is needed in the process of hopping robot design. First of all, to answer the question how to obtain the 3D information of the frog's jumping process, the method to gain the 3D trajectory with a high-speed camera has been designed, which has been proved by experiments. The error of this method has also been analyzed. Then, a program, used in the data processing and analyse, is designed and written to meet the need of working out the useful information of the frog's movement from the image shot by the camera. Whit the help of this method and the program, the information of frog's jumping process is gained by an experiment. Secondly, in order to study the principle of frog's jumping movement, the mechanism model of bionic frog hopping robot is built after the analyze of frog skeleton, mass distributing and the steps of frog's jumping. Then, following the analyse and calculation of the kinematics of this model, which supplies the proof that the model is suitable to simulate the frog jumping movement, the simulation of jumping process of this mechanism model is carried out in ADAMS, which gives out the mechanics law of frog jumping. Finally, based on the characteristic of frog and the principle of frog's jumping movement, parallelogram hopping mechanism is used instead of the frog hopping mechanism with many series-wound joints. The model of parallelogram hopping mechanism non-linear spring and mass block is analyzed, followed by the design and simulation of the bionic frog hopping robot