【作者】 陈波；

【导师】 姜树海；

【作者基本信息】 南京林业大学 ， 机械设计及理论， 2012， 硕士

【摘要】 随着机器人技术的发展,机器人的应用领域不断扩展,人们希望机器人能够更加灵活地适应各种工作环境,完成更为复杂的任务。传统机器人因其自身机械结构的限制,很难适应工作环境和工作任务的变化，而可重构机器人则可以很好的解决上述问题。我们将具有很强环境适应能力的甲虫的身体构造和运动机理运用到可重构机器人的研究中，提出“仿生甲虫可重构机器人机构建模与仿真”的课题。不难看出，仿生甲虫可重构机器人的研究对在非结构化环境或未知环境中执行特殊任务如空间及海底探索、军事侦察、核电站检修、灾难救援等具有重要的理论价值和实际意义。论文主要研究仿生甲虫可重构机器人的机械结构设计、运动步态规划、运动学建模、动力学建模以及运动仿真等相关问题。(1)论文详细介绍了可重构机器人和步行多足机器人的国内外研究现状，给出了论文研究的主要内容。(2)基于甲虫的身体结构特征，运用机器人机构学、仿生机器人设计方法等，确定仿生甲虫可重构机器人各组成单元的自由度和关节尺寸，设计可重构模块单元，利用三维实体设计软件SOLIDWORKS构建出机器人完整的物理模型。(3)根据甲虫的运动特点，进行仿生甲虫可重构机器人运动步态的规划，设计出不同运动模式下机器人直走和定点转弯的步态，得到相应的足端位置向量，为实现机器人的稳定行走提供理论支持。(4)运用D-H方法建立仿生甲虫可重构机器人坐标系，利用齐次变换法进行运动学分析。基于运动学分析结果，应用拉格朗日功能平衡法建立仿生甲虫可重构机器人动力学模型，并进行一系列的运动仿真。(5)利用三维实体设计软件SOLIDWORKS和机械系统动力学仿真软件ADAMS联合构建出复杂环境特征以及完整的仿生甲虫可重构机器人仿真模型，得到一系列仿真数据，为仿生甲虫可重构机器人物理样机的研究以及机构的优化提供了一定的理论依据。更多还原

【Abstract】 With the development of robot technology，the application of robot expands. In this case,people hope that robot can adapt to various work environment more flexibly and accomplishmore complex tasks. Because of its limitations of mechanical structure, traditional robot isdifficult to adapt to the changes in work environment and tasks. However, reconfigurable robotcan solve the problems. We apply the body structure and motion theory of beetle which has astrong ability to adapt to work environment in the study on reconfigurable robot and start atopic of Modeling and Simulation for a Bionic Beetle-liked Reconfigurable Robot. It’s veryclear that, study on the bionic beetle-liked reconfigurable robot has an important theoreticalvalue and practical significance in performing special tasks in unstructured and unknownenvironment such as space and undersea exploration, military reconnaissance, nuclear powerplant maintenance, disaster relief and so on.The main research of this paper includes mechanical structure design of bionic beetle-likedreconfigurable robot, motion gait planning, kinematic modeling, dynamic modeling, motionsimulation and some other related problems.Firstly, the paper introduces the research status of reconfigurable robot and multi-leggedwalking robot at home and abroad in detail and gives the main content of the paper.Based on body structure features of beetle, the paper determines the freedom of robot andthe size of joints, design the reconfigurable unit and use three-dimensional modeling softwareSOLDWORKS to make up the complete physical model by robot mechanism theory and bionicrobot design method.Then, according to the characteristics of the motion of beetle, the paper carries the motiongait planning of the bionic beetle-liked reconfigurable robot out, designs the gait of walkingstraight and turning and gets the robot’s foot end position vectors of different motion modes.These provide theoretical support for realizing stable walking of the robot.After that, the paper uses the D-H law to establish the coordinate of the bionic beetle-likedreconfigurable robot and homogeneous transformation method to complete the kinematicanalysis. Based on the result of the kinematic analysis, the dynamic model is built byLagrange method and some simulations are also finished.At last, the complex environmental characteristics and integrated simulation model areconstructed by three-dimensional modeling software SOLDWORKS and mechanical systemdynamic simulation software ADAMS. A series of simulation data are obtained and all thesedata provide references for the study of the bionic beetle-liked reconfigurable robot prototypesand the optimization of robot’s mechanism.更多还原