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Design And Motion Control Of Bionic Kangaroo Robot

Posted on:2024-02-17Degree:MasterType:Thesis
Country:ChinaCandidate:F J WangFull Text:PDF
GTID:2568307118482134Subject:Electronic information
Abstract/Summary:PDF Full Text Request
With the deepening of robotics research and the expansion of application fields,more powerful motion performance and wider environmental applicability are gradually becoming the research hotspots in the field of robotics.Bionic jumping robots not only have the characteristics of reasonable and flexible structure and stable and efficient movement of living organisms through the concept and method of bionics,but also have the characteristics of explosive power,wide range of movement and good agility to adapt to unstructured environment,which can assist human beings to complete disaster rescue,terrain survey and military reconnaissance.Therefore,the study of bionic jumping robot has important theoretical research significance and wide application prospects.In this study,the kangaroo with superior jumping performance is used as the bionic object,and the bionic kangaroo jumping robot is designed,and the key problems such as kinematic and dynamics modeling,jumping trajectory planning and jumping motion control are researched.(1)The bio-skeletal system of kangaroo and its jumping motion pattern were researched.Through the in-depth analysis of the kangaroo’s bio-skeletal system and motion mechanism,the structural features and motion characteristics of the kangaroo were summarized and extracted,and the design of a 3D model of a kangaroo jumping robot with highly bionic dimensions and structure was completed with this as the design criterion.(2)The kinematics and dynamics of different jumping phases are modeled and analyzed for the characteristics of variable constraints in the jumping process of the bionic kangaroo robot.Firstly,the positive kinematics,inverse kinematics and velocity problems of the touchdown phase and the takeoff phase of the bionic kangaroo robot were modeled and analyzed by D-H method,analytical method and differential method respectively,and the validity of the model was verified by simulation.Secondly,the inverse dynamics modeling of the touchdown and takeoff phases was carried out,and the relationship between the joint moments and the joint posture information of the robot was constructed.The theoretical basis for the planning of jumping trajectory and motion control of the bionic kangaroo robot is provided.(3)The trajectory planning of the task space and joint space during the jumping process of the bionic kangaroo robot is researched.Firstly,for the task space,the trajectories of the center of mass in the jumping phase and the trajectories of the toes relative to the center of mass in the soaring phase are planned from the robot jumping goal using polynomial interpolation algorithm;secondly,for the redundancy characteristics of the robot system,the joint space trajectory planning problem is transformed into an optimization problem,an optimization mathematical model under the kinematic and dynamical constraints of the robot is established,and an adaptive The simulation results show that the planned joint trajectories are highly similar to the joint changes in the real kangaroo jumping process,which demonstrates the rationality and effectiveness of the trajectory planning.(4)The control of jumping motion of the bionic kangaroo robot is investigated.For the bionic kangaroo robot studied in this project is a complex system composed of mechanical and control parts,a joint control simulation platform based on MATLABADAMS is built.Firstly,a virtual prototype model of the dynamics of the bionic kangaroo robot is established,and the data exchange between the control system and the virtual prototype system is realized through the input and output state variables;secondly,a sliding-mode joint trajectory tracking controller is designed,and the simulation experiment of jumping motion control of the bionic kangaroo robot is carried out on the basis of the planned desired joint trajectory;the experimental results show that the designed joint trajectory tracking The experimental results show that the designed joint trajectory tracking controller can effectively track the desired trajectory and has a high similarity with the real kangaroo,which verifies the feasibility of the designed bionic kangaroo robot jumping motion and the correctness of the trajectory planning.
Keywords/Search Tags:bionic kangaroo robot, kinematics, dynamics, trajectory planning, motion control simulation
PDF Full Text Request
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