硕士学位论文 仿生蛇的设计及其运动仿真 THE DESIGN AND MOTION SIMULATION OF BIONIC SNAKE 崔春 哈尔滨工业大学 2009年6月
硕士学位论文 仿生蛇的设计及其运动仿真 THE DESIGN AND MOTION SIMULATION OF BIONIC SNAKE 崔春 哈尔滨工业大学 2009 年 6 月
国内图书分类号：TP242 学校代码：10213 国际图书分类号：621 密级：公开 硕士学位论文 仿生蛇的设计及其运动仿真 硕士研究生： 崔春 导 师： 卢泽生教授 申请学位：工学硕士（应用研究型） 学科、专业： 机械制造及其自动化 所在单位： 机电工程学院 答辩日期：2009年6月 授予学位单位：哈尔滨工业大学
国内图书分类号：TP242 学校代码：10213 国际图书分类号：621 密级：公开 硕士学位论文 仿生蛇的设计及其运动仿真 硕 士 研 究 生： 崔春 导 师： 卢泽生教授 申 请 学 位： 工学硕士（应用研究型） 学 科 、 专 业： 机械制造及其自动化 所 在 单 位： 机电工程学院 答 辩 日 期： 2009 年 6 月 授予学位单位： 哈尔滨工业大学
Classified Index:TP242 U.D.C.:621 Dissertation for the Master Degree in Engineering THE DESIGN AND MOTION SIMULATION OF BIONIC SNAKE Candidate: Cui Chun Supervisor: Prof.Lu Zesheng Academic Degree Applied for: Master of Engineering Specialty: Mechanical Manufacturing and Automation Affiliation: School of Mechatronics Engineering Date of Defence: June,2009 Degree-Conferring- Harbin Institute of Technology Institution:
Classified Index：TP242 U.D.C.: 621 Dissertation for the Master Degree in Engineering THE DESIGN AND MOTION SIMULATION OF BIONIC SNAKE Candidate： Cui Chun Supervisor： Prof. Lu Zesheng Academic Degree Applied for： Master of Engineering Specialty： Mechanical Manufacturing and Automation Affiliation： School of Mechatronics Engineering Date of Defence： June, 2009 Degree-ConferringInstitution： Harbin Institute of Technology
哈尔滨工业大学工学硕士学位论文 摘 要 仿生学是生物科学与工程技术相结合的一门综合学科，通过学习、模 仿、复制和再造生物系统的结构、功能、工作原理及控制机制，来改进现有 的或创造新的机械和仪器系统等，仿生学已经延伸到很多领域并取得了丰富 的成果。本文主要对仿生蛇进行了研究。 文中首先对自然界生物蛇的身体结构和运动形式进行了分析，介绍了蛇 类的骨架结构和鳞片功能，并对蛇类常见的四种运动形式进行了分析。 根据生物蛇骨架抽象出的模型设计出了一种正交的仿生蛇关节结构，在 该结构中，电机分别固定在相邻的关节上，通过电机轴旋转使相邻关节相对 转动。由于采用正交结构，该仿生蛇可以实现生物蛇常见的蜿蜓运动、蠕 动、侧向运动、抬头运动，并可以实现生物蛇难以实现的翻滚运动。对仿生 蛇的头部关节进行了设计，设计了一种可以实现夹紧功能的头部关节结构。 对仿生蛇的蜿蜒运动、蠕动、翻滚运动、侧向运动做了运动规划，得出 了实现相关运动形式所需的关节角度时间函数；对抬头运动进行了规划，通 过力矩计算得出了一种所需力矩较小的拾头方式；建立了仿生蛇的一种带有 PC机和无线传输的支持普通串行通信的单片机分层控制系统，并对控制系 统的各个层面进行了分析。 运用ADAMS仿真软件对仿生蛇的上述五种运动形式进行了运动学和 动力学仿真。经过运动学仿真，验证了各种运动规划的合理性，得出了仿真 动画和蛇体的运动轨迹：通过动力学仿真，得出了实现相关运动时关节所需 的最大力矩，验证了电机是可以实现仿生蛇的相关运动形式的。 关键词：仿生蛇：结构设计；运动规划：控制系统；运动仿真 -I-
哈尔滨工业大学工学硕士学位论文 - I - 摘 要 仿生学是生物科学与工程技术相结合的一门综合学科，通过学习、模 仿、复制和再造生物系统的结构、功能、工作原理及控制机制，来改进现有 的或创造新的机械和仪器系统等，仿生学已经延伸到很多领域并取得了丰富 的成果。本文主要对仿生蛇进行了研究。 文中首先对自然界生物蛇的身体结构和运动形式进行了分析，介绍了蛇 类的骨架结构和鳞片功能，并对蛇类常见的四种运动形式进行了分析。 根据生物蛇骨架抽象出的模型设计出了一种正交的仿生蛇关节结构，在 该结构中，电机分别固定在相邻的关节上，通过电机轴旋转使相邻关节相对 转动。由于采用正交结构，该仿生蛇可以实现生物蛇常见的蜿蜒运动、蠕 动、侧向运动、抬头运动，并可以实现生物蛇难以实现的翻滚运动。对仿生 蛇的头部关节进行了设计，设计了一种可以实现夹紧功能的头部关节结构。 对仿生蛇的蜿蜒运动、蠕动、翻滚运动、侧向运动做了运动规划，得出 了实现相关运动形式所需的关节角度时间函数；对抬头运动进行了规划，通 过力矩计算得出了一种所需力矩较小的抬头方式；建立了仿生蛇的一种带有 PC 机和无线传输的支持普通串行通信的单片机分层控制系统，并对控制系 统的各个层面进行了分析。 运用 ADAMS 仿真软件对仿生蛇的上述五种运动形式进行了运动学和 动力学仿真。经过运动学仿真，验证了各种运动规划的合理性，得出了仿真 动画和蛇体的运动轨迹；通过动力学仿真，得出了实现相关运动时关节所需 的最大力矩，验证了电机是可以实现仿生蛇的相关运动形式的。 关键词：仿生蛇；结构设计；运动规划；控制系统；运动仿真
哈尔滨工业大学工学硕士学位论文 Abstract Bionics is a comprehensive discipline that combined with biological science and engineering technology,through learning,imitating,reproducing and recycling biological systems'structure,function,principle and control mechanism,bionics aims to improve and create new systems of machine and equipment.Bionics has extended to many fields and achieved a lot of useful results.This thesis mainly works on the bionic's snake. In the beginning,this thesis analyses the structure and the forms of the movements of natural snakes,introduces snakes'skeleton structure,the function of skins and four moving forms of snakes. According to the abstract framework of biological snakes'skeleton structure, a kind of orthogonal bionic snake structure is designed.In this structure,motor drives the adjacent joints to rotate,which is fastened on the one joint.Because of the orthogonal structure,this bionic snake can imitate snakes'movements,such as winding movement,peristalsis,lateral movement and head-rising movement. Further more,this snake-like robot can imitate rolling movement that natural snakes can not achieve.A structure of snake's head is also designed in this paper, head clamping action can be achieved in this structure. This thesis programs the winding movement,peristalsis,lateral movement, head-rising movement and rolling movement,finally gets the function of joint's angle.A PC-Wireless-UART-Master MCU-Slave MCU control system is designed in this paper,and all the facets of the control system are analyzed. Using ADAMS to do the kinematics and dynamics simulation of the forms of the bionic snake's movements.Kinematics simulation is mainly used to verify the reasonability of the programming and gain the imitating movie.Dynamics simulation is used to get the maximum torque of the joints,so as to verify whether the motor is contented. Keywords:bionic snake,configuration design,control system,movement programming,locomotion simulation
哈尔滨工业大学工学硕士学位论文 - II - Abstract Bionics is a comprehensive discipline that combined with biological science and engineering technology ， through learning, imitating, reproducing and recycling biological systems’ structure, function, principle and control mechanism, bionics aims to improve and create new systems of machine and equipment. Bionics has extended to many fields and achieved a lot of useful results. This thesis mainly works on the bionic’s snake. In the beginning, this thesis analyses the structure and the forms of the movements of natural snakes, introduces snakes’ skeleton structure, the function of skins and four moving forms of snakes. According to the abstract framework of biological snakes’ skeleton structure, a kind of orthogonal bionic snake structure is designed. In this structure, motor drives the adjacent joints to rotate, which is fastened on the one joint. Because of the orthogonal structure, this bionic snake can imitate snakes’ movements, such as winding movement, peristalsis, lateral movement and head-rising movement. Further more, this snake-like robot can imitate rolling movement that natural snakes can not achieve. A structure of snake’s head is also designed in this paper, head clamping action can be achieved in this structure. This thesis programs the winding movement, peristalsis, lateral movement, head-rising movement and rolling movement, finally gets the function of joint's angle. A PC-Wireless-UART-Master MCU-Slave MCU control system is designed in this paper, and all the facets of the control system are analyzed. Using ADAMS to do the kinematics and dynamics simulation of the forms of the bionic snake’s movements. Kinematics simulation is mainly used to verify the reasonability of the programming and gain the imitating movie. Dynamics simulation is used to get the maximum torque of the joints, so as to verify whether the motor is contented. Keywords: bionic snake, configuration design, control system, movement programming, locomotion simulation