| With the development of science and technology,the application fields of robots in human life continue to expand,including services,entertainment,medical treatment and military affairs.The biped robot has a human-like structure and appearance,is highly adaptable to the environment and highly flexible,and can replace humans in completing many dangerous tasks,such as fire prevention and disaster relief,environmental investigation,etc.How to make biped robots achieve high-speed,low-energy stable motion is one of the current research hotspots in the field of robotics.The Struthio Camelus(hereinafter referred to as the ostrich)is currently the fastestrunning biped in the world.Its legs are strong and strong,and it can achieve continuous high-speed movement.This superiority provides an important reference value for the mechanical structure design of biped robots.This paper takes the ostrich as the bionic prototype,according to the principle of engineering bionics,designs a full-form bionic biped robot,and conducts related theoretical analysis and simulation experiment research.The main research contents are as follows:(1)Combining the literature research method to study the ostrich's biological mechanism,biological motion mechanism and motion law,summarize the reasons for the ostrich to achieve continuous high-speed and stable running.Using bionic mechanical design and lightweight design,a full-form bionic biped robot with compact structure,simple control,high-speed running,energy saving and shock absorption is designed,and a three-dimensional model is established through SOLIDWORKS.(2)The leg structure of the robot is simplified,the forward kinematics mathematical model is established by the vector analysis method,and the foot trajectory and the velocity and acceleration equations of each joint are obtained.The correctness of the model is verified by ADAMS simulation.Based on this,the objective function is to minimize the distance between the actual trajectory and the desired trajectory,and optimize the design through the MATLAB genetic algorithm toolbox to obtain a set of optimal leg mechanism structure parameters.Three methods for solving the inverse solution of the leg mechanism are proposed,and the correctness of the differential method is verified.At the same time,the forward and inverse kinematics analysis of the robot head,tail and wing mechanism is carried out,and its correctness is verified.(3)Based on the D'Alembert principle,the dynamic analysis of the robot leg structure is carried out,the dynamic statics model is established,the constraint reaction force of each joint and the required driving torque of the crank are solved,and the correctness of the dynamic model is verified by ADAMS simulation.(4)A virtual prototype simulation model of the robot was established by ADAMS software,and simulation experiments were carried out on the rigid legs of the robot and the elastic legs with springs or(and)torsion springs.The simulation results showed that the elastic elements can significantly improve the motion performance of the robot.Through ADAMS simulation,the influence of springs and torsion springs under different stiffnesses on the motion performance of the robot is analyzed,and springs and torsion springs of different stiffnesses are combined to obtain a set of spring and torsion spring stiffnesses that can best meet the design requirements of the robot in a certain interval.(5)The motion planning of the legs,head,tail and wings of the robot is carried out,and the PID algorithm is used to design the motion controllers of each part of the robot.On this basis,the corresponding STEP driving function was added to ADAMS,and the simulation experiment of the robot as a whole was carried out to verify the feasibility of motion planning. |
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