【作者】 瞿晓荣；

【导师】 孟庆鑫；

【作者基本信息】 哈尔滨工程大学 ， 机械设计及理论， 2003， 硕士

【摘要】 由于机器人具有可靠性高、适应性强、功能强大的特点使其成为执行高危险军事任务的理想平台，具有两栖活动能力的军用机器人更是该领域研究的前沿课题。本课题来源于国家自然科学基金项目“两栖仿生机器蟹基础技术研究”，主要研究内容是机器蟹样机总体方案设计和控制系统、驱动技术研究。本论文主要包括以下内容： 借鉴国内外典型多足步行机器人和仿生机器人研究项目的经验，提出了机器蟹的总体方案设计，并对多环并联结构机器人运动学及动力学分析方法、微型伺服驱动技术、机械仿生技术、DSP实时控制等关键技术开展了研究。 通过对海蟹的模仿，并借助运动学和动力学优化分析的手段，以灵活性和稳定性为研究对象，获得了机器蟹机体结构优化参数模型。设计了机器蟹原理样机，同时开展机器蟹关节驱动技术的研究。 作为机器蟹原理样机设计和本论文的主要内容之一，开展了机器蟹嵌入式控制系统研究。设计了具有可扩展性和模块化特点的机器蟹多层多目标递阶式实时控制系统。开发了基于DSP的嵌入式步行足控制器，进行硬件电路及相关软件包设计，并对控制算法进行了研究。 建立了机器蟹步行足控制实验平台，进行了步行足递阶控制器性能测试，并结合多关节协调运动控制算法研究，对步行足在不同步态情况下的控制性能进行了对比实验和分析。更多还原

【Abstract】 The robots now is regarded as a kind of ideal platform for performing dangerous military mission, which have advantages of high dependability, good adaptability, powerful function. In addition, the research on amphibious military robot has become the focus in this area all over the world. The research of this paper is supported by project of ’Amphibious Crab-liked Robot Study’, which is funded by NSFC (National Natural Science Foundation of China). The main research of this paper includes scheme design of crab-liked robot, control system, driving technology.After studying of related research on multi-legged and bionics robot over the world, the macro-scheme design of the crab-liked robot is deeply researched. The feasibility of relating technology has been demonstrated such as kinematics and dynamics of multi-loop parallel manipulator, micro servo driving method, bionic mechanics, DSP real-time control.With the researching on flexibility and stability of the crab-liked robot movement, we get the optimized structure parameter module. The study methods such as bionic structure design and function imitating, the optimizing analyze of kinematics and dynamics are widely used. At the same time the scheme design of DSP real-time control system is given.As the main point of the paper, we give a detail discuss on control system study of robot walking leg, the same as software and hardware design for DSP based controller. This part is including research on sensors and components selecting, design of main-controller, peripheral interface and application software. In addition, the control arithmetic is also studied.At last, we build the test platform of crab-liked robot walking leg. Through the experiment on the test platform the above technologies have been widely testified. The performance of the angle driver of robot leg, DSP controller is proved to be effective. At the same time arithmetic of harmonize control is also be test to analyzing the control performance in different walking status.更多还原