[优秀毕业设计精品] 基于手脚融合的多足步行机器人的运动精度研究.doc

本科毕业设计（论文）题目基于手脚融合的多足步行机器人的运动精度研究学生姓名专业班级机设064班学号院（系）机电工程学院指导教师（教授）完成时间2010年5月30日基于手脚融合的多足步行机器人的运动精度研究I基于手脚融合的多足步行机器人的运动精度研究摘要机器人运动误差是衡量机器人性能的重要指标之一，直接影响到机器人的工作质量，对多足步行机器人的运动精度研究是一项重要而富有意义的工作。本文以四足步行机器人为研究对象，通过分析机器人的正运动学和逆运动学运动方程和误差方程，对步行机器人的精度分析问题进行了比较深入的理论研究。首先，结合国内外多足步行机器人现状和误差分析现状以及多足步行机器人的机构特点，分析了运动误差的主要来源。其次，在多足步行机器人正逆运动学的求解过程的基础上，运用微分的方法计算运动机器人正逆运动的误差方程。最后，在MATLAB环境下编制相应的误差分析程序，通过实例仿真验证误差分析的正确性。关键词多足步行机器人/正运动学/逆运动学/误差分析基于手脚融合的多足步行机器人的运动精度研究IIHANDFOOTINTEGRATEDMECHANUSMTHEMOREWALKINGROBOTFUSIONACCURACYOFMOVEMENTABSTRACTThemotionerrorisoneoftheimportantindexesrobotperformances,whichaffecttheworkingqualityofthemultileggedwalkingrobotdirectly,formuchofthemotionprecisionwalkingrobotresearchisanimportantandmeaningfulwork.Basedonfourwalkingrobotforresearchobject,throughtheanalysisoftherobotkinematicsandinversekinematicsisinerrorequationsequationandthewalkingrobot,precisionanalysisproblem,deeplytheoreticalresearch.First,combinedwiththedomesticandforeignmanywalkingrobotpresentsituationandtheerroranalysis,aswellasthecharacteristicsofthewalkingrobot,theerroranalysisofmovementerroristhemainreasonforthedifference.Secondly,inwalkingrobotistheinversekinematicsolutionprocess,usingthedifferentialmethodofinverserobotmotionequationofmovementerror.Finally,intheMATLABenvironmentcorrespondingerroranalysisprogramcompiledbyexampletoprovethecorrectnessoftheerroranalysis.Keywordsmultileggedwalkingrobot，forwardkinematics，inversekinematics，Erroranalysis基于手脚融合的多足步行机器人的运动精度研究III目录摘要................................................................................................................................IABSTRACT.............................................................................................................................II1绪论..............................................................................................................................11.1引言........................................................................................................................11.2课题来源、目的及意义...................................................................................11.3国内外研究现状.................................................................................................21.4本文研究内容.....................................................................................................72多足步行机器人的正运动学分析和误差分析.........................................92.1引言........................................................................................................................92.2研究对象的介绍................................................................................................102.3影响运动误差的主要因素.............................................................................112.4机器人正运动学分析和误差分析...............................................................132.4.1串联机械手的正运动学....................................................................................132.4.2机器人抓取时的正运动学分析........................................................................162.4.3算例....................................................................................................................192.5本章小结..............................................................................................................213多足步行机器人的逆运动学分析和误差分析........................................223.1机器人的逆运动学分析和误差分析..........................................................223.2算例.......................................................................................................................263.3本章小结..............................................................................................................28结论....................................................................................................................................29致谢....................................................................................................................................30参考文献..........................................................................................................................31附录...............................................................................................................................33附录1..............................................................................................................................33附录2..............................................................................................................................37