外文翻譯---一種簡易足式移動(dòng)機(jī)器人

1、<p><b>　　英文資料</b></p><p>　　One kind of simple foot -like migration robot</p><p>　　Robot is a type of mechantronics equipment which synthesizes the last research achievement of e

2、ngine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation c

3、ontrol, robot technology is developed quickly and all types of the robots products are come into being. The practicality use of robot products not only solves the problems which are dif</p><p>　　With the ana

4、lysis of the problems in the design of the plastic holding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechani

5、cal configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration, electronic, software and hardware. In this article, the mechanica

6、l configuration combines the character of direct</p><p>　　The walk organization because it is opposite to the ordinary wheeled organization has many unique superiority, obtains the widespread application in

7、more special domains. At present unceasingly appears on he market by the new multi- groups walk organization, their mostly intellectualization degree higher, the organization and the control is complex.</p><p&

8、gt;　　The people frequently must draw support to the walk organization research to animal's careful observation and the movement mechanism analysis. We note, insect when smooth unimpeded terrain surface barrel, are ma

9、ny by in turn triangle gait movement, namely six feet will divide into two groups, the bodily later around foot and the opposite side center fully respectively took a group, will form a stable triangle strut. Two groups

10、of legs in turn swinging with strut ,realization insect's quick movem</p><p>　　1 organization analysis</p><p>　　Designing starts with a need, real or imagined. Existing apparatus may need im

11、provements in durability, efficiently, weight, speed, or cost. New apparatus may be needed to perform a function previously done by men, such as computation, assembly, or servicing. With the objective wholly or partly de

12、fined, the next step in design is the conception of mechanisms and their arrangements that will perform the needed functions. For this, freehand sketching is of great value, not only as a record of one’</p><p&

13、gt;　　When the general shape and a few dimensions of the several components become apparent, analysis can begin in earnest. The analysis will have as its objective satisfactory or superior performance, plus safety and dur

14、ability with minimum weight, and a competitive cost. Optimum proportions and dimensions will be sought for each critically loaded section, together with a balance between the strength of the several components. Materials

15、 and their treatment will be chosen. These important objectives c</p><p>　　Finally, a design based upon function and reliability will be completed, and a prototype may be built. If its tests are satisfactory

16、, and if the device is to produced in quantity, the initial design will undergo certain modifications that enable it to be manufactured in quantity at a lower cost. During subsequent years of manufacture and service, the

17、 design is likely to undergo changes as new ideas are conceived or as further analysis based upon tests and experience indicate alterations .Sales a</p><p>　　1.1 overall constructions design </p><

18、p>　　Overall constructions design shows is six feet shifting mechanism overall construction diagram. This organization structure simpler, because the torso are partial and six feet, the tension bar and the direct curre

19、nt electric motor compositions. If the race 1 and 3 connects by tension bar a; The foot 4 and the foot 6 by the tension bar f connection, they may circle on the torso respective axle center to swing the certain angle in

20、the horizontal plane; The foot 2 and the foot 5 also by the tension</p><p>　　1.2 gaits designs</p><p>　　The walk organization walks the way to divide into the static state to walk dynamically wi

21、th walks two kinds. The static state walks the way is refers to the walk organization while to walk in the process throughout to have three above the foot; The tendency walks the way is refers to except for this other to

22、 walk the way. More accurate saying ,the static state walks is refers to the walk organization in to walk in the process, its center of gravity always is in the stable strut plane. The strut</p><p>　　Theoret

23、ically says, six full organizations may supply the choice the gait to be more, but also should follow the general criterion: (1)chooses the gait to be supposed to conform to the animal to walk the custom. The experience

24、and the theoretical analysis indicated that, the animal walks the way is in the nature most reasonable, these walk the way not only to be able to cause the walk organization to be balanced, moreover can cause the energy

25、decrement which consumes to the lowest degree. (2) ch</p><p>　　1.2.1 advances walks the gait</p><p>　　Time six full organizations advances walks the gait like chart1-1 to show. After six full or

26、ganizations start the movement, the first step, the foot 2 and the foot 5 swings an angle, causes left side of the body to lift, the foot 1, the foot 3 and the foot 5 is hanging, thefoot 2, the foot 4 and foot 6, and for

27、m a triangle to support the region. If walks in the process, this organization center of gravity throughout is located in this triangle, then six full organizations are at the steady state</p><p>　　Chart1-1

28、 six full organizations advances walk the gait like chart</p><p>　　The chart has simulated this six full organizations advance continual motion gait from the position. May see, this organization walks the di

29、rection certainly is not a straight line, if first steps the right leg then organization finally to left displacement. Moreover, afte rthe organization steps out first step, the entire torso and the original position can

30、 form an included angle psi, the organization forward travel distance is m. After steps out second step, the organization posture returns to</p><p>　　1.2.2 curves walks the gait</p><p>　　The cha

31、rt is six full organizations counterclockwise time walks the gait like chart1-2 to show. After six full organizations start the movement, the first step ,the foot 2 and the foot 5 swings an angle, causes left side of the

32、 body to lift, the foot 1, the foot 3 and the foot 5 is hanging, the foot 2, the foot 4 and foot 6, and form a triangle to support the region. The second step, wears the place the foot 4 and the foot 6relative bodies swi

33、ngs the certain angle to after, realizes the body rel</p><p>　　Contains 6 steps in the entire cycle, a cycle may realize the organization to rotate 2 alpha angles. </p><p>　　Chart1-2 six full o

34、rganizations counterclockwise time walks the gait like chart</p><p>　　1.3 stable analyses</p><p>　　Simply uses the steady constant angle evaluates when the walk organization the stability to be

35、bright. First carries on the following definition:</p><p>　　(1) supports the territory the polygon which is composed by between the constitution strut graph strut foot, these segments are called the strut te

36、rritory the strut boundary</p><p>　　(2) supports the boundary the steady constant angle theta to refer to the walk organization machine physique heart to have the plane with this boundary with the angle whic

37、h this boundary is vertical becomes. After before first, left, the right stable angle separately corresponds, is left, right side the vertical direction include dangle. Any strut territory steady constant angle is equal

38、to in this territory all struts boundary steady constant angle minimum value. The walk organization is whethe</p><p>　　2 control systems</p><p>　　When the insect walks, around the foot swings to

39、 front, about the middle two feet swings. The system should be able to examine various full position in active status any time, in this organization uses the model ship direct current servo electrical machinery. In the p

40、otentiometer sets in the model ship electrical machinery gear box the potentiometer rotation axis and the electrical machinery output shaft is coaxial.</p><p>　　When the system brings the power source, the w

41、ork, the monolithic integrated circuit according to the procedure  which establishes inadvance controls the electrical machinery revolving. When revolves, the potentiometer skids the end voltage also along with it c

42、hange, this voltage is introduced monolithic integrated circuit the A\D transformation unit, after the a/d conversion is a digital quantity. In the procedure may establish this digital quantity on lower limit to control

43、the electrical mach</p><p>　　Control system is the key and core part of the object holding manipulator system design which will direct effect the reliability and practicality of the robot system in the divis

44、ion of configuration and control function and also will effect or limit the development cost and cycle. With the demand of the PCL-839 card, the PC computer which has a. tight structure and is easy to be extended is used

45、 as the principal computer cell and takes the function of system initialization, data operation and di</p><p>　　3 experiments</p><p>　　States the principle and the design proposal according to f

46、ront ,manufactured six feet to move the robot the prototype, its basic organization size was: The torso adds on antenna total length 290mm;Extends 230mm; High 110mm. This prototype brings the power source, thesignal situ

47、ation which according to establishes the procedure and thesensor which accept independently to walk in advance. To the prototypical test result demonstrated six full robots may steadilywalk in the hard ground, voluntaril

48、y</p><p>　　The analysis of kinematics and dynamics for object holding manipulator is given in completing the design of mechanical structure and drive system. Kinematics analysis is the basis of path programm

49、ing and track control. The positive and reverse analysis of manipulator gives the relationship between manipulator space and drive space in position and speed. The relationship between manipulator’s tip position and arth

50、rosis angles is concluded by coordinate transform method. The geometry method is use</p><p>　　The start and stop frequency of the step motor is far lower than the maximum running frequency. In order to impro

51、ve the efficiency of the step motor, the increase and decrease of the speed is must considered when the step motor running in high speed and start or stop with great acceleration. The increase and decrease of the motor’s

52、 speed can be controlled by the pulse frequency sent to the step motor drive with a rational method. This can be implemented either by hardware or by software. A step </p><p>　　At last, the research content

53、and the achievement are sum up and the problems and shortages in main the content are also listed. The development and application of robot in the future is expected.</p><p><b>　　中文翻譯</b></p&g

54、t;<p>　　一種簡易足式移動(dòng)機(jī)器人</p><p>　　機(jī)器人是典型的機(jī)電一體化裝置，它綜合運(yùn)用了機(jī)械與精密機(jī)械、微電子與計(jì)算機(jī)、自動(dòng)控制與驅(qū)動(dòng)、傳感器與信息處理以及人工智能等多學(xué)科的最新研究成果，隨著經(jīng)濟(jì)的發(fā)展和各行各業(yè)對自動(dòng)化程度要求的提高，機(jī)器人技術(shù)得到了迅速發(fā)展，出現(xiàn)了各種各樣的機(jī)器人產(chǎn)品。機(jī)器人產(chǎn)品的實(shí)用化，既解決了許多單靠人力難以解決的實(shí)際問題，又促進(jìn)了工業(yè)自動(dòng)化的進(jìn)程。目前，由于機(jī)

55、器人的研制和開發(fā)涉及多方面的技術(shù)，系統(tǒng)結(jié)構(gòu)復(fù)雜，開發(fā)和研制的成本普遍較高，在某種程度上限制了該項(xiàng)技術(shù)的廣泛應(yīng)用，因此，研制經(jīng)濟(jì)型、實(shí)用化、高可靠性機(jī)器人系統(tǒng)具有廣泛的社會現(xiàn)實(shí)意義和經(jīng)濟(jì)價(jià)值。</p><p>　　綜述近幾年機(jī)器人技術(shù)研究和發(fā)展的狀況，結(jié)合塑料一次擠出成型機(jī)和塑料抓取機(jī)械手的研制過程中出現(xiàn)的問題。在充分發(fā)揮機(jī)、電、軟、硬件各自特點(diǎn)和優(yōu)勢互補(bǔ)的基礎(chǔ)上，對物料抓取機(jī)械手整體機(jī)械結(jié)構(gòu)、傳動(dòng)系統(tǒng)、驅(qū)動(dòng)裝置和

56、控制系統(tǒng)進(jìn)行了分析和設(shè)計(jì)，提出了一套經(jīng)濟(jì)型設(shè)計(jì)方案。采用直角坐標(biāo)和關(guān)節(jié)坐標(biāo)相結(jié)合的框架式機(jī)械結(jié)構(gòu)形式，這種方式能夠提高系統(tǒng)的穩(wěn)定性和操作靈活性。傳動(dòng)裝置的作用是將驅(qū)動(dòng)元件的動(dòng)力傳遞給機(jī)器人機(jī)械手相應(yīng)的執(zhí)行機(jī)構(gòu)，以實(shí)現(xiàn)各種必要的運(yùn)動(dòng)，傳動(dòng)方式上采用結(jié)構(gòu)緊湊、傳動(dòng)比大的蝸輪蝸桿傳動(dòng)和將旋轉(zhuǎn)運(yùn)動(dòng)轉(zhuǎn)換為直線運(yùn)動(dòng)的螺旋傳動(dòng)。機(jī)械手驅(qū)動(dòng)系統(tǒng)的設(shè)計(jì)往往受到作業(yè)環(huán)境條件的限制，同時(shí)也要考慮價(jià)格因素的影響以及能夠達(dá)到的技術(shù)水平。由于步進(jìn)電機(jī)能夠直接接收數(shù)

57、字量，響應(yīng)速度快而且工作可靠并無累積誤差，常用作數(shù)字控制系統(tǒng)驅(qū)動(dòng)機(jī)構(gòu)的動(dòng)力元件，因此，在驅(qū)動(dòng)裝置中采用由步進(jìn)電機(jī)構(gòu)成的開環(huán)控制方式，這種方式既能滿足控制精度的要求，又能達(dá)到經(jīng)濟(jì)性、實(shí)用化目的，在此基礎(chǔ)上，對步進(jìn)電機(jī)的功率計(jì)一算及選型問題經(jīng)行了分析。</p><p>　　步行機(jī)構(gòu)因其相對于普通輪式機(jī)構(gòu)有許多獨(dú)特的優(yōu)越性，在較多的特殊領(lǐng)域得到廣泛的應(yīng)用。目前不斷由新型多組步行機(jī)構(gòu)面世，他們大多智能化程度較高，機(jī)構(gòu)和控

58、制復(fù)雜。</p><p>　　人們對步行機(jī)構(gòu)的研究常常要借助于對動(dòng)物的仔細(xì)觀察和運(yùn)動(dòng)機(jī)理的分析。我們注意到，昆蟲在平坦無阻的地形表面快速行進(jìn)時(shí)，多以交替的三角步態(tài)運(yùn)動(dòng)，即六足分為兩組，身體以后的前后足及對側(cè)的中足各作為一組，形成一個(gè)穩(wěn)定的三角支撐。兩組腿交替的擺動(dòng)和支撐，實(shí)現(xiàn)昆蟲的快速運(yùn)動(dòng)。本文所提出的簡易足式機(jī)器人具有6個(gè)支撐足，模仿了昆蟲的行走步態(tài)，能夠在平地上前進(jìn)、后退、左右轉(zhuǎn)彎，在遇到障礙時(shí)能自行避開。&

59、lt;/p><p><b>　　1機(jī)構(gòu)設(shè)計(jì)分析</b></p><p>　　設(shè)計(jì)是從實(shí)際或者假想的需要開始的。對于現(xiàn)有的設(shè)備可能需要在耐用性，效率，重量，速度或者成本等方面做進(jìn)一些改進(jìn)工作；也可能要新的設(shè)備完成以前由人來做的工作，例如計(jì)算或者裝配。當(dāng)目標(biāo)完全或部分被確定以后，下一個(gè)設(shè)計(jì)步驟是對能夠完成所需要功能的機(jī)構(gòu)及其布局進(jìn)行總?cè)赵O(shè)計(jì)。對于此項(xiàng)工作，徒手畫的草圖是很有價(jià)

60、值的，它不僅可以記錄下我們的想法，而且還有助于與別人進(jìn)行討論，特別是和自己的大腦進(jìn)行交流，從而促進(jìn)創(chuàng)新想法的產(chǎn)生。</p><p>　　當(dāng)一些零件的大致形狀和幾個(gè)尺寸被確定后，就可以開始認(rèn)真的分析工作。分析工作的目的是要在重量最輕，成本最低的情況下，獲得令人滿意，即優(yōu)良的工作性能，并且還要安全耐用。對于每個(gè)關(guān)鍵承載界面，應(yīng)該尋求最佳的比例和尺寸，同時(shí)要對這幾個(gè)零件的受力進(jìn)行平衡。要對材料和處理方式進(jìn)行選擇。只有根

61、據(jù)力學(xué)原理進(jìn)行分析才能達(dá)到這些重要目的。這些分析包括根據(jù)靜力學(xué)原理分析反作用力和充分利用摩擦力，根據(jù)動(dòng)力學(xué)原理分析慣性，加速度和能量；根據(jù)彈性力學(xué)和材料力學(xué)分析應(yīng)力和變形；根據(jù)流體力學(xué)來分析潤滑和流體傳動(dòng)。</p><p>　　最后，完成基于功能要求和可靠性所進(jìn)行的設(shè)計(jì)，且要制作一臺樣機(jī)。如果試驗(yàn)結(jié)果令人滿意，而且該裝置將要進(jìn)行批量生產(chǎn)，就應(yīng)該對最初提出的設(shè)計(jì)方案做一些修改，使其能以較低的成本進(jìn)行批量生產(chǎn)。在以后

62、的制造和使用期內(nèi)，如果產(chǎn)生了新的想法或者根據(jù)試驗(yàn)和經(jīng)驗(yàn)所做的進(jìn)一步分析結(jié)果表明，可以有更好的替代方案，則很可能對原設(shè)計(jì)方案進(jìn)行修改。銷售吸引力，客戶的滿意程度和制造成本均與設(shè)計(jì)有關(guān)，而設(shè)計(jì)能力則與工程創(chuàng)新的實(shí)現(xiàn)是密切相關(guān)的。</p><p><b>　　1.1整體結(jié)構(gòu)設(shè)計(jì)</b></p><p>　　六足移動(dòng)機(jī)構(gòu)的整體結(jié)構(gòu)簡圖。該機(jī)構(gòu)結(jié)構(gòu)較為簡單，由于軀干部分及六足、

63、拉桿和直流電動(dòng)機(jī)組成。如1和3由拉桿a連接；足4和足6由拉桿f連接，它們可繞軀干上各自的軸心在水平面內(nèi)擺動(dòng)一定的角度；足2和足5也由拉桿連接，可繞軀干上的軸心在 垂直平面內(nèi)擺動(dòng)一定的角度。這樣，足1和足3以及拉桿a和軀體形成一個(gè)平面平行四連桿機(jī)構(gòu)；足4和足6以及拉桿f和軀體形成另一個(gè)平面平行四連桿機(jī)構(gòu)。該六足移動(dòng)機(jī)構(gòu)使用三套電機(jī)驅(qū)動(dòng)，其中一套電機(jī)驅(qū)動(dòng)足1和足3，第二套電機(jī)驅(qū)動(dòng)足4和足6，第三套電機(jī)驅(qū)動(dòng)驅(qū)動(dòng)足2和足5，相對以往的各種步行機(jī)

64、構(gòu)，該機(jī)構(gòu)的主要特點(diǎn)是：結(jié)構(gòu)簡單，步態(tài)新穎，控制容易實(shí)現(xiàn)。分別驅(qū)動(dòng)三套電機(jī)運(yùn)動(dòng)可以實(shí)現(xiàn)機(jī)構(gòu)在地面以不同步態(tài)行走，實(shí)現(xiàn)前進(jìn)、后退、轉(zhuǎn)彎等功能。</p><p><b>　　1.2步態(tài)的設(shè)計(jì)</b></p><p>　　步行機(jī)構(gòu)的行走方式分為靜態(tài)行走和動(dòng)態(tài)行走兩類。靜態(tài)行走方式是指步行機(jī)構(gòu)在行走過程中始終有三只以上的足同時(shí)著地；動(dòng)態(tài)行走方式是指除此以外的其余行走方式。更準(zhǔn)

65、確的說，靜態(tài)行走是指步行機(jī)構(gòu)在行走過程中，其重心總是處于穩(wěn)定支撐平面內(nèi)。支撐平面是指支撐足之間所組成的多邊形。為獲得較好的穩(wěn)定性，本文設(shè)計(jì)中將六足分為兩組，身體一側(cè)的前足、后足及另一側(cè)的中足作為一組，形成一個(gè)穩(wěn)定的三角支撐。兩組足交替的擺動(dòng)和支撐，實(shí)現(xiàn)機(jī)構(gòu)的移動(dòng)。</p><p>　　理論上而言，六足機(jī)構(gòu)可供選擇的步態(tài)較多，但也應(yīng)遵循一般的準(zhǔn)則：（1）所選步態(tài)應(yīng)符合動(dòng)物的行走習(xí)慣。經(jīng)驗(yàn)和理論分析表明，動(dòng)物的行走方

66、式是自然界中最合理的，這些行走方式不僅能使步行機(jī)構(gòu)平衡，而且能使所消耗的能量減少到最低程度。（2）所選步態(tài)應(yīng)使控制盡可能的簡單，和動(dòng)物的行走不同，步行機(jī)構(gòu)的行走必須加入以人為的控制，如果所選步態(tài)存在控制上的困難甚至難以實(shí)現(xiàn)，顯然意義是不大的。綜合考慮這兩條準(zhǔn)則以及機(jī)構(gòu)的整體構(gòu)成，對機(jī)構(gòu)的行走步態(tài)作如下規(guī)劃。</p><p>　　1.2.1前進(jìn)時(shí)的行走步態(tài)</p><p>　　圖1-1六足機(jī)

67、構(gòu)前進(jìn)時(shí)的行走步態(tài)</p><p>　　分析六足機(jī)構(gòu)前進(jìn)時(shí)的行走步態(tài)，如圖1-1所示。六足機(jī)構(gòu)開始運(yùn)動(dòng)后，第一步，足2和足5擺動(dòng)一個(gè)角度，使軀體左側(cè)抬起，足1、足3和足5懸空，足2、足4和足6著地，并形成一個(gè)三角支撐區(qū)域。若行走過程中，該機(jī)構(gòu)的重心始終位于該三角形內(nèi)，則六足機(jī)構(gòu)處于穩(wěn)定狀態(tài)，不至于摔倒。第二步，著地的足4和足6相對軀體向后擺動(dòng)一定的角度，實(shí)現(xiàn)軀體相對地面向前的第一步移動(dòng)。第三步，懸空的足1和足3向

68、前擺動(dòng)一個(gè)角度。第四步足2和足5反方向擺動(dòng)一個(gè)角度，使軀體右側(cè)抬起，足2、足4和足6懸空，足1、足3和足5著地。第五步，著地的足1和足3相對軀體向后擺動(dòng)一個(gè)角度，實(shí)現(xiàn)軀體相對地面向前的第二步移動(dòng)。第六步，懸空的足4和足6相對軀體向前擺動(dòng)一個(gè)角度。如此(a)-(b)-(c)-(d)-(e)-(f)-(a)往復(fù)循環(huán)。后退時(shí)的步態(tài)依次類推。</p><p>　　模擬了該六足機(jī)構(gòu)前進(jìn)的連續(xù)運(yùn)動(dòng)步態(tài)。可以看出，該機(jī)構(gòu)的行走

69、方向并不是直線，如果先邁右腿則機(jī)構(gòu)最終向左偏移。而且，當(dāng)機(jī)構(gòu)邁出第一步后，整個(gè)軀干與原來的位置會形成一個(gè)夾角ψ，機(jī)構(gòu)的前進(jìn)距離為m。邁出第二步后，機(jī)構(gòu)的姿態(tài)回到原位，前進(jìn)距離為n，向左偏移距離為s。</p><p>　　1.2.2轉(zhuǎn)彎時(shí)的行走步態(tài)</p><p>　　圖1-2 六足機(jī)器人轉(zhuǎn)彎示意圖</p><p>　　如圖1-2所示，為六足機(jī)構(gòu)右轉(zhuǎn)時(shí)的行走步態(tài)。六足

70、機(jī)構(gòu)開始運(yùn)動(dòng)后，第一步，足2和足5擺動(dòng)一個(gè)角度，使軀體左側(cè)抬起，足1、足3和足5懸空，足2、足4和足6著地，并形成一個(gè)三角形支撐區(qū)域。第二步，著地的足4和足6相對軀體向后擺動(dòng)一定的角度，實(shí)現(xiàn)軀體相對地面向前的第一步轉(zhuǎn)動(dòng)。如圖所示，此時(shí)軀體的位姿已相對上一位姿轉(zhuǎn)動(dòng)一個(gè)角度α。第三步，懸空的足1和足3相對軀體向后擺動(dòng)一定的角度。第四步足2和足5反方向擺動(dòng)一個(gè)角度，實(shí)現(xiàn)軀體相對地面向前的第二步轉(zhuǎn)動(dòng)。如圖所示此時(shí)軀體的位姿已相對上一位姿又轉(zhuǎn)動(dòng)了

71、一個(gè)角度α。懸空的足4和足6相對軀體向前擺動(dòng)一個(gè)角度。如此(a)-(b)-(c)-(d)-(e)-(f)-(a)往復(fù)循環(huán)，便可實(shí)現(xiàn)六足機(jī)構(gòu)向左轉(zhuǎn)動(dòng)。右轉(zhuǎn)則以次類推。在整個(gè)周期中包含6步，一個(gè)周期可實(shí)現(xiàn)機(jī)構(gòu)轉(zhuǎn)動(dòng)2α角。</p><p><b>　　1.3 穩(wěn)定性分析</b></p><p>　　采用穩(wěn)定角來評定步行機(jī)構(gòu)時(shí)的穩(wěn)定性簡單明了。先進(jìn)行如下定義：</p&g

72、t;<p>　　（1）支撐域 由構(gòu)成支撐圖形的支撐足之間所組成的多邊形，這些連線稱為支撐域的支撐邊界</p><p>　?。?）支撐邊界的穩(wěn)定角θ 指步行機(jī)構(gòu)機(jī)體質(zhì)心與該邊界所成平面同過該邊界的鉛垂面所成的角度。前、后、左、右穩(wěn)定角分別對應(yīng)前、后、左、右邊界鉛垂面方向的夾角。任一支撐域的穩(wěn)定角等于該域內(nèi)所有支撐邊界穩(wěn)定角的最小值。步行機(jī)構(gòu)是否穩(wěn)定可以用穩(wěn)定角來判斷：①穩(wěn)定角 θ＞0，步行機(jī)構(gòu)處于

73、靜態(tài)穩(wěn)定狀態(tài)；②穩(wěn)定角θ =0，步行機(jī)構(gòu)處于臨界靜態(tài)穩(wěn)定狀態(tài)；③穩(wěn)定角θ＜0 時(shí)，步行機(jī)構(gòu)靜態(tài)不穩(wěn)定。</p><p><b>　　2 控制系統(tǒng)</b></p><p>　　昆蟲行走時(shí)，前后足向前擺動(dòng)，中間兩足左右擺動(dòng)。系統(tǒng)在工作狀態(tài)的任一時(shí)刻應(yīng)該能夠檢測到各足的位置，本機(jī)構(gòu)中采用航模直流伺服電機(jī)。電位器內(nèi)置在航模電機(jī)齒輪箱中，電位器的旋轉(zhuǎn)軸與電機(jī)的輸出軸是同軸的。&

74、lt;/p><p>　　系統(tǒng)自帶電源，工作時(shí)，單片機(jī)按預(yù)先編制的程序控制電機(jī)的旋轉(zhuǎn)。旋轉(zhuǎn)時(shí)，電位器滑動(dòng)端的電壓也隨之變化，該電壓被引入單片機(jī)的A\D轉(zhuǎn)換單元，經(jīng)模數(shù)轉(zhuǎn)換后為一個(gè)數(shù)字量。程序中可以設(shè)定該數(shù)字量的上下限來控制電機(jī)向兩個(gè)方向旋轉(zhuǎn)的極限位置。傳感器還包括兩個(gè)行程開關(guān)和一個(gè)反射式紅外傳感器，行程開關(guān)可以看作該六足機(jī)構(gòu)的觸角，當(dāng)該觸角碰到障礙物時(shí)，會觸發(fā)一個(gè)脈沖，使單片機(jī)產(chǎn)生中斷，執(zhí)行相應(yīng)的中斷服務(wù)程序；反射式紅

75、外傳感器也是同樣的用途，只是不用接觸到摩擦物。這樣，該機(jī)構(gòu)就可以按預(yù)先編制好的程序和傳感器接受到的信號情況自主行走。</p><p>　　控制部分是整個(gè)機(jī)械系統(tǒng)設(shè)計(jì)關(guān)鍵和核心，它在結(jié)構(gòu)和功能上的劃分和實(shí)現(xiàn)直接關(guān)系到機(jī)器人系統(tǒng)的可靠性、實(shí)用性，也影響和制約機(jī)械手系統(tǒng)的研制成本和開發(fā)周期。在控制主機(jī)的選用上，采用結(jié)構(gòu)緊湊、擴(kuò)展功能強(qiáng)和可靠性高的PC工業(yè)控制計(jì)算機(jī)作為主機(jī)，配以PCL-839卡主要承擔(dān)系統(tǒng)功能初始化、數(shù)

76、據(jù)運(yùn)算與處理、步進(jìn)電機(jī)驅(qū)動(dòng)以及故障診斷等功能;同時(shí)對PCL-839卡的結(jié)構(gòu)特點(diǎn)、功能原理和其高定位功能等給與了分析。硬件是整個(gè)控制系統(tǒng)以及極限位置功能賴以存在的物質(zhì)基礎(chǔ)，軟件則是計(jì)算機(jī)控制系統(tǒng)的神經(jīng)中樞，軟件設(shè)計(jì)的目的是以最優(yōu)的方式將各部分功能有機(jī)的結(jié)合起來，使系統(tǒng)具有較高的運(yùn)行效率和較強(qiáng)的可靠性。在物料抓取機(jī)械手軟件的設(shè)計(jì)上，采用的是模塊化結(jié)構(gòu)，分為系統(tǒng)初始化模塊、數(shù)據(jù)處理模塊和故障狀態(tài)檢測與處理等幾部分。主控計(jì)算機(jī)和各控制單元之間全

77、部由PCL-839卡聯(lián)系，并且由該卡實(shí)現(xiàn)抗干擾等問題，減少外部信號對系統(tǒng)的影響。</p><p><b>　　3實(shí)驗(yàn)</b></p><p>　　根據(jù)前述原理和設(shè)計(jì)方案，制作了六足移動(dòng)機(jī)器人的樣機(jī)，其基本機(jī)構(gòu)尺寸為：軀干加上觸角總長290mm；寬230mm；高110mm。該樣機(jī)自帶電源，按預(yù)先編制好的程序和傳感器接受的信號情況自主行走。對樣機(jī)的測試結(jié)果顯示六足機(jī)器人可

78、以平穩(wěn)地在硬地面上行走，自行躲避障礙。</p><p>　　在完成機(jī)械結(jié)構(gòu)和驅(qū)動(dòng)系統(tǒng)設(shè)計(jì)的基礎(chǔ)上，對物料抓取機(jī)械手運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)進(jìn)行了分析。運(yùn)動(dòng)學(xué)分析是路徑規(guī)劃和軌跡控制的基礎(chǔ)，對操作臂進(jìn)行了運(yùn)動(dòng)學(xué)正、逆問題的分析可以完成操作空間位置和速度向驅(qū)動(dòng)空間的映射，采用齊次坐標(biāo)變換法得到了操作臂末端位置和姿態(tài)隨關(guān)節(jié)夾角之間的變換關(guān)系，采用幾何法分析了操作臂的逆向運(yùn)動(dòng)學(xué)方程求解問題，對控制系統(tǒng)設(shè)計(jì)提供了理論依據(jù)。機(jī)器人動(dòng)力

79、學(xué)是研究物體的運(yùn)動(dòng)和作用力之間的關(guān)系的科學(xué)，研究的目的是為了滿足是實(shí)時(shí)性控制的需要，本文采用牛頓-歐拉方法對物料抓取機(jī)械手動(dòng)力學(xué)進(jìn)行了分析，計(jì)算出了關(guān)節(jié)力和關(guān)節(jié)力矩，為步進(jìn)電機(jī)的選型和動(dòng)力學(xué)分析與結(jié)構(gòu)優(yōu)化提供理論依據(jù)。步進(jìn)電機(jī)的啟停頻率遠(yuǎn)遠(yuǎn)小于其最高運(yùn)行頻率，為了提高工作效率，需要步進(jìn)電機(jī)高速運(yùn)行并快速啟停時(shí)，必須考慮它的升，降速控制問題。電機(jī)的升降速控制可以歸結(jié)為以某種合理的力一式控制發(fā)送到步進(jìn)電機(jī)驅(qū)動(dòng)器的脈沖頻率，這可由硬件實(shí)現(xiàn)，也