北京理工大学珠海学院 2020 届本科生毕业设计仿蜥蜴机器人设计与制作——控制部分设计 ——控制部分设计北京理工大学珠海学院 2020 届本科生毕业设计摘 要仿生技术出现至今已有数十载，而仿生学是应用生物学领域的一门分支学科，软硬件的相互结合赋予了机器人另一种形式的“生命力”。本次毕业设计是通过研究蜥蜴的外形和运动姿态所设计与制作的仿蜥蜴机器人。根据步态分析和自由度的计算，设计结构外形和基本运动姿态，通过电路设计和程序写入去控制各运动副的关节运动，并且通过仿真优化和上位机的调试优化得到能满足运动要求的仿蜥蜴机器人。关键词：仿生技术，电路设计，优化，关节运动北京理工大学珠海学院 2020 届本科生毕业设计Design and manufacture of lizard - like quadruped robot——Control system designAbstractIt has been decades since the advent of bionic technology, and bionics is a branch discipline in the field of applied biology. The combination of software and hardware endows robots with another form of "vitality". This graduation project is a lizard robot designed and made by studying the appearance and movement of lizards. According to the analysis of gait and the calculation of degree of freedom, the design of the structure shape and the basic motion posture, through the circuit design and program writing to control the joint motion of each motion pair, and through the simulation optimization and the upper computer debugging optimization can meet the motion requirements of the lizard robot.Key words: bionic technology, circuit design, optimization, joint motionⅡ北京理工大学珠海学院 2020 届本科生毕业设计目录1．绪论...........................................................................................................................................11.1 研究仿生蜥蜴机器人的现实意义和目的.............................................................................11.2 国内外的发展状况对于仿生蜥蜴机器人.........................................................
