基于3-SPS仿生关节机构的运动控制与应用

【作者】 周云芳；

【导师】 张龙；

【作者基本信息】 南京理工大学 ， 机械电子工程， 2006， 硕士

【摘要】 本文主要研究了基于3-SPS仿生关节机构的运动学、控制系统、应用方面的问题。运动学方面，本文对仿生关节的位置反解进行了深入研究，得出仿生关节的运动学位置反解方程，并进行仿真实验。为了得到上平台位置的精确参数，本文重点对仿生关节进行硬件控制系统设计，综合考虑了几种常见的驱动方式后，提出了液压伺服驱动控制策略，并确立了机构的系统参数，建立了单缸数学模型，提出了基于CAN总线的分布式控制的原理。针对液压伺服系统提出了模糊自适应控制策略，设计了模糊控制查询表；设计了系统的模糊自适应控制器并进行仿真实验。仿真结果表明，模糊自适应控制下的液压伺服系统，能明显减少外干扰对系统的影响。以仿生蟹为应用研究对象，分析了仿生蟹的研究现状和蟹关节的结构特点、行走规律等；提出了把仿生关节机构应用于仿生蟹的髋关节的方案，并建立仿生蟹单腿结构模型，设计仿生蟹结构参数，对控制器的主要性能作仿真，并得出仿真曲线。为进一步研究仿生蟹类的八足机器人提供了一定的理论基础。更多还原

【Abstract】 This paper mainly studies 3-SPS biomimetical joint mechanism’s kinematics, control system, application problems, etc. The backward displacement solution of 3-SPS biomimetical joint mechanism is proposed by analyzing the kinematics of the biomimetical joint mechanism, and carried on correlative simulation experiment. We have emphatically designed the hardware control system to the 3-SPS biomimetical joint mechanism, after synthesizing several common drive types, proposed the hydraulic-servo control strategy, established the system’s parameter and single-urn mathematical model to propose a new Distributed Control System Based on CAN Bus. In view of the biomimetical joint mechanism’s trait, a fuzzy adaptive control strategy is proposed here, set up the rogatory tabulation of fuzzy control. After that, we designed the fuzzy adaptive controller for the single-urn’s hydraulic-servo system and did correlative emulational experiment. Then thesis regards the crab-like robot as the research object, discusses the development of the crab-like robot and the advantages of the crab-like robot walking and intelligent controlling. Then used 3-SPS biomimetical joint mechanism as the crab-like robot’s joint, the thesis establishes the biological modeling crab single leg structural model. With the algorithm of the fuzzy controller and the parameters of the crab-like robot confirmed, the simulation diagrams are plotted. This model may provide some help in the field of the eight-legged machine such as crab-like robot.更多还原