机械创新设计课程设计
姓 名：何燕飞、郑义、陈斌、周鹏、陈海云班 级：指导教师：成 绩： 2014-2015第 2 学期
机越一班 李军 方轶琉
日期：2015 年 6 月 4 日
小组成员：何燕飞、郑义、陈斌、周鹏、陈海云：机器人的四足行走机构创新设计
仿生四足行走机器人行走机构的研究
摘 要
马相对于其它四足哺乳动物来说，躯体较大，四肢骨骼坚实有力，其运行步态稳健轻快，能在地面、坡地和凸凹不平的地表上自由灵活的快速行走，且可远距离行走。因此，本课题研究了马在平地的步态运动方式，根据马步态设计的仿马四足行走机构为解决：在凹凸不平的路况上抢险救灾物资和装备的运输问题上将产生深远的影响。
本课题以马为研究对象，对其有障碍路况行走步态方式进行了研究。马型四足行走机器人的运动学方程是一组非线性方程,没有通用的解法,通常很难求得运动学方程解的解析表达式。采用几何解法,把空间几何问题分解成若干个平面几何问题,这样,不用建立运动学方程,而直接应用平面几何的方法进行运动轨迹规划,给出各个关节角给定量的计算方法。本课题在分析总结了马的生理特性、运动步法和步态特点的基础上，从结构仿生角度出发，研究了行走机构的设计方案、运动原理、运动特点，确定了仿马四足行走机构，并应用 CATIA 软件建立了单腿和整机的三维模型。
关键词:马型四足行走机构、腿部结构、运动轨迹规划、三维建模
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2013届工程机械专业（机越一班）机械创新设计
The bionic quadruped walking robot mechanism research
ABSTRACT
Comparing with other four feet mammals, Horses
have many advantages including the bigger body, the stronger and the vibranter limb bones, long distance walking, so the horses can walk flexibly on the bumpy ground, the sloping fields, the mountains and the steep cliffs. Therefore, the motion pattern of goats gait on the upslope and downslope were researched. According to the horse gait, the bionic horse sloping walking mechanism was designed in order to solve the sloping walking problems of the agricultural machinery, which will have far-reaching effects on the design of the bionic mechanism.
Horses were used as research object in the topic, and
the sloping walking gait style was studied.The kinematics equations with nonlinear characteristic of horse type four legs walking robot have not been universal solutions. It is difficult to resolving express of robot kinematics equations.A geometrical method which space geometry problem is turned to some plane geometry problem is researched.So trajectory plan of motion can be made directly by plane geometrical method and kinematics equations need not set up.Further more method of calculation For Each Join Tangle Is obtained.Computer simulation is researched for robot kinematics solutions and inverse solutions.Feasibility of the design method is verified by virtue of experiment.
KEY WORDS: Horse quadruped walking mechanism, the structure of the legs, trajectory planning, three-dimensional modeling
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小组成员：何燕飞、郑义、陈斌、周鹏、陈海云：机器人的四足行走机构创新设计
目录
第1章 ............................................................................................................................................... 6 1.1设计的目的 ................................................................................................................................. 6 1.2设计的意义 ................................................................................................................................. 6 1.3设计应达到的技术要求 ............................................................................................................. 7 1.4简述本课题在国内（外）发展概况及存在的问题 ................................................................. 7 1.4.1国外仿生四足机器人 .......................................................................................................... 7 1.4.2国内仿生四足机器人 .......................................................................................................... 8 1.5本设计的指导思想 ..................................................................................................................... 9 1.6阐述本设计应解决的主要问题 ................................................................................................. 9 1.7本设计采用的研究（计算）手段方式方法 ........................................................................... 10 1.8本设计的技术路线： ............................................................................................................... 11 第2章 ................................................................................................................................................. 12 2.1设计方案论证 ........................................................................................................................... 12 2.1.1行走机构的运动原理 ........................................................................................................ 12 2.1.2方案设计 ............................................................................................................................ 12 2.2机构的创新点 ........................................................................................................................... 16 2.3四足行走机构稳定性分析 ....................................................................................................... 17 2.4静态稳定性 ............................................................................................................................... 17 2.4.1静态稳定性的一般描述 .................................................................................................... 17 2.4.2重心偏移对静态稳定性的影响 ........................................................................................ 17 2.5四足机器人的步态规划 ........................................................................................................... 18 2.5.1步态的概念 ........................................................................................................................ 18 2.5.2步态规划及时序分析 ........................................................................................................ 19 2.5.3步态的稳定性分析 ............................................................................................................ 20 2.5.4步态的选择 ........................................................................................................................ 21 2.6理论计算 ................................................................................................................................... 21
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2013届工程机械专业（机越一班）机械创新设计
2.6.1动力学分析 ........................................................................................................................... 21 2.6.2足端轨迹分析 ....................................................................................................................... 22 1.6.3.
水平电机和竖直电机运动方程的设计 .......................................................................... 23
第3章 结论及展望 ......................................................................................................................... 25 3.1 主要结论 .................................................................................................................................. 25 3.2未来展望 ................................................................................................................................... 25 谢辞： ................................................................................................................................................. 26 参考文献 ......................................................................................................................................... 26
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