Research On The Plane Fast Moving Mechanism Of Boxing Robot

Humanoid robots are an important product in the history of modern science.Because they can accurately complete operations in special environments and are highly efficient,they are widely used in various industries.In recent years,in order to realize different operation requirements,the structure of the robot has become more and more diverse,and the functions that can be realized have also become more and more,but most of its structures are relatively single,and some even have degrees of freedom redundancy and Insufficient situation.In order to enable robots to accurately achieve relevant actions,researchers have focused almost all of their research on how to improve the control accuracy of robots.They have invested less in structural design and ignored the structural innovation of robots.Based on this,this thesis researches and develops an anthropomorphic mobile robot with short-distance fast evasion and fast movement functions.The three-dimensional design modeling of the robot is mainly carried out from the aspect of mechanism design,and then the mutual demonstration between the theoretical calculation,simulation and experimental testing is completed,thereby verifying the accuracy of model creation.First,check the research progress,development trends and structural design characteristics of modern robots at home and abroad to complete the innovative design of the structure,research and develop a boxing robot with fast evasion at close range and all-round movement,and complete the three-dimensional model of the boxing robot.Create and control the design of the system.Refer to the boxer's punching speed to determine the dodge movement time.Based on the body's frontal attack response,the theoretical dodge movement is initially determined.After finishing it,the actual dodge movement and movement time of the waist of the boxing robot are finally obtained.Secondly,based on the mechanical and kinematic characteristics of the foot movement mechanism,it completed the kinematics and dynamics theory calculation research,and introduced the related movement methods and implementation methods;created the world coordinate system and local coordinate system of the movement mechanism,The transformation relationship between the two is obtained;combined with the principle of speed distribution of the differential,the positive and negative mathematical expressions of the kinematics of the moving mechanism are obtained using the differential principle;finally,the kinematics constraint equation is analyzed to ensure that the rubber wheel is During the movement,it is pure rolling to prevent the side sliding phenomenon.The Lagrangian method was selected to complete the dynamics calculation of the moving mechanism.On the basis of establishing the coordinate system,combined with the torque distribution principle of the differential,the mathematical equations of the dynamics of the moving mechanism were obtained.Finally,select the UG drawing module to create a three-dimensional assembly of the boxing robot.After completing the corresponding simplification,import it into Adams and then reset the material corresponding to each part.Create driving,gravity,restraint,contact,etc.based on the movement relationship of the moving mechanism and the association of parts.After setting the relevant parameters,the simulation of the boxing robot is completed,and the relevant simulation parameter curves are obtained.Complete the physical assembly according to the assembly relationship of the boxing robot,and then conduct experimental tests.Finally,the mutual verification between theoretical analysis,simulation and experimental testing was completed,and error analysis was completed,further verifying that the boxing robot can complete the functions of fast evasion in close range and rapid movement in all directions.