ABSTRACT ABSTRACT As the scope of mobile robot application is constantly expanding,such as jungle warfare in the mountains,desert wetland investigation,disaster prevention and so on, the demand of robot flexible mobility and environmental adaptability is higher and higher.The research and exploration in the multi-legged moving mechanism become an urgent problem to be solved in the current multi-legged robot research field. Traditionally,multi-legged robot applies servo controlled open-chain mechanism as multi-legged moving mechanism.Because the joint drive needs to act continuously and overcome constantly inertia power,the energy loss in the process of the reversible switch is great.Hence,it is difficult to achieve rapid gait of the robot.Based on the experimental test and the theoretical research on the bionic joint quadruped robot in the past,it puts forward the design concept called "the hybrid-driven multi-legged moving mechanism".Hybrid-driven multi-legged moving mechanism is a kind of the mechanism with multiple degrees of freedom.It is driven by high-power source of the unidirectional continuous rotation and servo-power source.The high-power source drives the crank to rotate continuously.The servo-power source adjusts continually the trajectory of the end point,so as to realize the gait control of multi-legged robot. This paper integrated the advantages of traditional mechanical system with the advantages of servo mechanical system,and it designed the quadruped robot based on the hybrid-driven mechanism.It could not only realize fast moving,but also have a good ability of flexibility. This paper first reviewed the development of the mobile robot and the hybrid-driven mechanism,and analyzed the current bottleneck problems of multi-legged robot in the research field.In order to improve the efficiency of mobile robot,the hybrid-driven mechanism was introduced in the design of the robot leg mechanism.The research content is mainly as follows:the configuration synthesis of the planar closed-chain linkage,the kinematics analysis of the hybrid-driven mechanism,electromechanical coupling modeling and virtual prototype simulation technology,the trajectory planning method of mechanism actuator and experimental research,etc. The configuration synthesis of the planar closed-chain linkage analyzed two configuration syntheses.One was the configuration synthesis of the single degree of freedom linkage;the other was the configuration synthesis of the two degree of freedom linkage.Besides,it offered all kinds of thumbnail form and structure diagram. I
ABSTRACT ABSTRACT As the scope of mobile robot application is constantly expanding，such as jungle warf打e in the mountains，desert wetland investigation，disaster prevention and SO on， the demand of robot flexible mobility and environmental adaptability is higher and higher．The research and exploration in the multi-legged moving mechanism become an urgent Droblem to be solved in the current multi—legged robot research field． Traditionally,multi．1egged robot applies servo controlled open’chain mechanism as multi．1egged moving mechanism．Because the joint drive needs to act continuously and overcome constantly inertia power,the energy loss in the process of the reversible switch is great．Hence，it is difficult to achieve rapid gait of the robot．Based on the experimental test and the theoretical research on the bionic joint quadruped robot in the past，it puts forward the design concept called”the hybrid-driven multi-legged moving mechanism”．Hybrid．driven multi．1egged moving mechanism is a kind of the mechanism with multiple degrees of freedom．It is driven by high。power source of the unidirectional continuous rotation and servo-power source．The high‘power source drives me crank to rotate continuously．The servo-power source adjusts continually the trajectory of the end point，SO as tO realize the gait control of multi—legged robot． This paper integrated the advantages of traditional mechanical system with the advantages of servo mechanical system，and it designed the quadruped robot based on the hybrid．driven mechanism．It could not only realize fast moving，but also have a good ability of flexibility． This paper first reviewed the development of the mobile robot and the hybrid．driven mechanism，and analyzed the current bottleneck problems of multi．．1egged robot in the research field．In order to improve the efficiency of mobile robot．the hybrid．driven mechanism was introduced in the design of the robot leg mechallism．The research content is mainly as follows：the configuration synthesis of tlle planar closed．chain linkage，the kinematics analysis of the hybrid-driven mec_h砸sm，electromechanical coupling modeling and virtual prototype simulation technology,the trajectory planning method of mechanism actuator and experimental research，etc． The configuration synthesis of the planar closed-chain linkage analyzed two configuration syntheses．One was the configuration synthesis of the single degree of freedom linkage；the other was the configuration synthesis of the two degree of freedom linkage．Besides，it offered all kinds of thumbnail form and structure diagram· III
ABSTRACT Then it analyzed the classification of the planar four-bar linkage and hybrid-driven five-bar linkage,focusing on the structural analysis of the hybrid-driven seven-bar linkage. The kinematics analysis of the hybrid-driven mechanism was divided into the forward kinematics analysis and the inverse kinematics analysis.The forward kinematics analysis was as follows:Firstly,the structural form of mechanism and size parameters were known.Then the law of motion of driving linkage was given.Finally, the result could obtain the displacement of driven bar and its velocity and acceleration. Meanwhile,it gained the workspace of the actuators and the trajectory curves.It analyzed the speed characteristics of the mechanism and the main factors affecting the speed characteristics by making use of Jacobi matrix.The inverse kinematics analysis was as follows:the trajectory of the actuator and the speed of constant speed motor were known,the result could obtain the angular displacement of the servo motor,the angular velocity and angular acceleration. The electromechanical coupling modeling and virtual prototype simulation technology established the dynamic equations of hybrid-driven mechanism by taking advantage of Lagrange method.Since the dynamic characteristics of the motor directly affected the kinematic accuracy of the overall mechanism in the actual process,it was necessary to introduce the dynamic equation of the motor for electromechanical coupling modeling.In the ADAMS software,simulation analysis was carried out on the electromechanical coupling model,and it obtained the changing curves of both motor current and crank angular velocity under different voltage. The experimental study on the trajectory planning method of actuator introduced respectively two methods.One was the trajectory planning method based on the inverse kinematics analysis.The other was based on trajectory curves.The above two methods were studied experimentally,basing on the hybrid-driven five-bar linkage experimental platform,the results showed error curve of circular trajectory.Due to the particularity of the seven-bar linkage configuration,the specific trajectory of robot leg mechanism was achieved by method of trajectory curves.Basing on the experimental platform of robot leg mechanism,the experimental study of four different trajectories was carried out,of which the result verified the feasibility of the method. Finally,the paper summarized the main conclusions of the research work,and put forward some prospects for follow-up work,in the hope of further research on V
ABSTRACT Then it analyzed the classification of the planar four-bar linkage and hybrid—driven five．bar linkage。focusing on the structural analysis of the hybrid-driven seven-bar linkage． The kinematics analysis of the hybrid．driven mechanism was divided into the forward kinematics analysis and the inverse kinematics analysis．The forward kinematics analysis was as follows：Firstly,the structural form of mechanism and size par锄eters were known．Then the law of motion of driving linkage was given．Finally, the result could obtain the displacement of driven bar and its velocity and acceleration． Meanwhile，it gained the workspace of the actuators and the trajectory curves．It analyzed the speed characteristics of the mechanism and the main factors affecting the speed characteristics by making use of Jacobi matrix．The inverse kinematics analysis was as follows：the trajectory of the actuator and the speed of constant speed motor were known．me result could obtain the angular displacement of the servo motor,the angular velocity and angular acceleration． The electromechanical coupling modeling and virtual prototype simulation technology established the dynamic equations of hybrid-driven mechanism by taking advantage of Lagrange method．Since the dynamic characteristics of the motor directlv affected the kinematic accuracy of the overall mechanism in the actual process，it was necessary to introduce the dynamic equation of the motor for electromechanical coupling modeling．In the ADAMS software，simulation analysis was carried out on the electromechanical coupling model， and it obtained the changing curves of both motor current and crank angular velocity under different voltage． The experimental study on the trajectory planning method of actuator introduced respectivelv two methods．One was the trajectory planning method based on the inverse kinematics analysis．The other Was based on trajectory curves．The above two methods were studied experimentally,basing on the hybrid—driven five-bar linkage experimental platform，the results showed error curve of circular trajectory．Due to the particularity of the seven-bar linkage configuration，the specific trajectory of robot leg mechanism was achieved by method of trajectory curves．Basing on the experimental platform of robot leg mechanism，the experimental study of four different trajectories was c秭ed out．of which the result verified the feasibility of the method． Finally,the paper summarized the main conclusions of the research work，and put forward some prospects for follow-up work，in the hope of further research on IV
ABSTRACT hybrid-driven mechanism. Key Words:multi-legged robot,hybrid-driven mechanism,workspace trajectory planning,experimental study V
ABSTRACT hybrid-driven mechanism． Key Words：multi-legged robot，hybrid—driven mechanism，workspace traj ectory planning，experimental study V
ABSTRACT VI
ABSTRACT VI
日求 目录 是1tt144 I ABSTRACT... In 目录… 第1章绪论 .1 1.1选题背景及意义… 1.2混合驱动机构的研究现状… 1.3本论文主要内容与结构安排… 9 1.3.1论文主要内容.… 9 1.32论文结构安排… 9 第2章平面闭链连杆机构的构型综合… 11 2.1平面连杆机构的基本概念 2.2单自由度平面连杆机构的类型综合12 2.3两自由度平面连杆机构的类型综合… .15 2.4平面连杆机构的类型分析… .17 2.4.1平面四杆机构的曲柄存在条件.17 2.4.2混合驱动五杆机构的类型分类… 18 2.4.3混合驱动七杆机构的类型分析… ,19 2.5本章小结 …20 第3章混合驱动五杆机构的相关分析与实验研究…21 31引言… …21 3.2混合驱动五杆机构的工作空间分析… …21 3.3混合驱动五杆机构的运动学分析… 25 3.3.1五杆机构的正运动学分析… 25 3.3.2五杆机构的逆运动学分析. 27 34混合驱动五杆机构的动力学分析… 30 3.4.1五杆机构的动力学模型… 30 3.4.2五杆机构的虚拟样机仿真.… .33 3.5五杆机构轨迹规划方法与实验研究.… .36 3.5.1基于逆运动学分析的轨迹规划方法. 36 3.5.2基于轨迹曲线簇的轨迹规划方法… .39 3.5.3轨迹规划方法的实验研究… A VII