摘要随着机器人技术的更新，各式新型的仿生机器人不断被研制出来，足式机器人当属机器人钻研范畴的热门问题。本课题要研制的是五足仿生机器人，它是在四足和751足机器人基础上的大胆创新与尝试。该五足仿生机器人的优点是稳定性高，承载能力强，行走时转向方便快捷。研究内容包括：
（1）利用三文绘图软件，设计五足仿生爬行机构。该机构单腿内各个关节串联，多足间并联协调运动，并且在改变运动方向时，机器人躯干无需转动即可达到转向目的。
（2）利用D-H矩阵对机器人腿部进行运动学分析，得出机器人运动的有关项，进而剖析机器人运动速度等参数。
（3）对利用SolidWorks设计并装配好的模型进行分析，用舵机驱动关节。将模型导入到ADAMS环境中，确定材料、约束、载荷等参数，进行运动学分析。
（4）对五足仿生机器人机构进行强度分析，使用有限元的分析方法，对机器人各个零部件强度校核，导入到SolidWorks中得出结论。27257
关键词 五足仿生机器人 机构设计 ADAMS 运动分析 强度校核
毕业论文设计说明书外文摘要
Title Five foot bionic robot mechanism design and kinematics analysis
Abstract
With the update of robot technology, all kinds of new type of bionic robot has been developed. Including foot type robot is the research hot spot in the field of robot. This topic to develop is five foot bionic robot, which is in four and six robots on the basis of bold innovation and trying.The five foot bionic robot has the advantage of high stability, bearing capacity is strong, moving fast and conveniently. The research content includes:
(1) Using 3 d drawing software, five foot crawl bionic design institutions. The agency within the single leg each joint series, parallel motion coordination between others, and when change the direction of movement, steering robot body without rotation to achieve.
(2) Using D-H matrix of robot kinematics analysis was carried out on the leg, it is concluded that the robot movement of the item, the robot is analyzed on the parameters such as velocity.
(3) Analyzed using SolidWorks design and assembly good model, with steering gear drive the joints. The model is put into ADAMS environment, materials, constraint and load parameters, kinematic analysis.
(4) Strength analysis was carried out on the five foot bionic robot mechanism, using the finite element analysis method, strength check every parts and components of robot, imported to come to the conclusion of SolidWorks.
Keywords five foot bionic robot mechanism design ADAMS kinematic analysis intensity check
目 次
1 绪论 1
1.1 引言 1
1.2 国内外研究现状 1
1.3 研究意义及应用前景 5
1.4 本课题研究的主要内容 5
2 五足机器人机械机构设计 7
2.1 引言 7
2.2 腿部结构的仿生学原理 7
2.3 机器人结构建模 8
2.4 机器人躯干结构设计 10
2.5 机器人腿部结构设计 11
2.6 关节驱动器 16
2.7 本章小结 17
3 五足仿生机器人单腿的运动学分析 18
3.1 引言 18
3.2 单腿的运动学分析 18
3.3 单腿足部末端的轨迹规划 21 ADAMS5足仿生机器人机构设计与运动学分析:http://www.751com.cn/jixie/lunwen_21704.html