仿人形爬坡机器人的设计及分析  

Design and Analysis of Humanoid Climbing Robot

作　　者：娄家润 李三平[1] 孙国东 王松[1] LOU Jia-run;LI San-ping;SUN Guo-dong;WANG Song(College of Electrical and Mechanical Engineering,Northeast,Forestry University,IIarbin 150040,China)

机构地区：[1]东北林业大学机电工程学院,黑龙江哈尔滨150040

出　　处：《机械工程与自动化》2018年第5期184-185,187,共3页Mechanical Engineering & Automation

基　　金：国家级大学生创新训练项目(201710225237)

摘　　要：仿生爬坡机器人是集机构、驱动、控制、传感等核心部件为一体的综合开发平台。仿人机器人的设计研究,将促进机械机构智能技术的发展。为了保证机器人在小坡度(10°~20°)的稳定行走,并实现自主判断坡度及寻迹,需要对各学科问题进行综合归纳。针对设计要求,完成了对机器人机械结构的理论分析,并实现了三维建模;通过对人体运动形式的分析,对机器人的运动进行了步态规划;最后对运动的实现进行控制分析。The climbing bionic-robot is an integrated development platform which sets mechanism,drive,control,sensing and other core components in one.The design and research of humanoid robot will promote the development of intelligent technology of mechanical mechanism.In order to ensure the robot can walk steadily on the small slope in the range of 10°-20°,the independent judgment of slant angle of slope and trace should be realized.According to the design requirements of robot,the theoretical analysis of the mechanical structure of the robot is conducted and the three-dimensional modeling of robot is accomplished.Through the theoretical analysis of the form of human walking,the gait planning of the robot is realized.Finally,the implementation of the robot motion control is analyzed.

关 键 词：综合开发 机械结构 步态规划 控制分析 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]