聊城大学本科毕业论文摘要四足机器人作为仿生机器人的一种,得到了广泛的研究。行走机构和转弯机构是四足机器人最关键的部分,目前,行走机构的研究大多采用在腿机构的关节处安装伺服电机进行驱动,增加了机器人的重量和控制策略的难度。并且,机器人本体大多是一个刚性整体,转弯机构研究不足。为此,项目将四足机器人本体作为一个柔性整体,采用三维建模软件Pro/E4.0设计了四足机器人的机械系统,提出了一种新颖的凸轮控制驱动式行走机构,设计了一种腿机构以及相应的凸轮控制驱动机构,并初步设计了柔性转弯机构。在此基础上,论文采用主从式控制方式设计了四足机器人的控制系统,重点讨论了以8051单片机为控制器的行走机构和转向机构的控制系统设计。关键词:四足机器人;行走机构;凸轮驱动;控制系统;三维设计AbstractQuadrupedrobotasoneofbiomimeticrobots,hasbeenextensivelystudied.Travelagenciesandinstitutionsisaquadrupedrobotturningthekey,Atthepresent,servomotorisinstalledinthelegjointsofthemosttravelagencies,increasingtheweightoftherobotandthedifficultyofthecontrolsystemstrategy.Andmostoftherobotisarigidbodyasawhole,andtheresearchoftheturninginstitutionsisnotfullystudied.Forthispurpose,theprojectwilltakefour-leggedrobotwholebodyasaflexiblerigidbody,andthree-dimensionalmodelingsoftwarePro/E4.0isusedfordesigningquadrupedrobotmechanicalsystems,anewtravelagencybasedoncamcontroldriveisproposed,akindoflegmechanismandcontrolofthecorrespondingcamdrivemechanismisdesigned,andaflexibleturninginstitutionispreliminarydesigned.Basedonthiswork,thecontrolsystemoftherobotwasdesigned.Especially,controlsystemsofthesteppedmechanismandthewheelmechanismwereanalyzeddetailed.Keywords:quadrupedrobot;steppedmechanism;camdrive;controlsystem;threei聊城大学本科毕业论文dimensionaldesign;目录1.引言...........................................................................................................11.1机器人及其相关技术的发展........................................11.2国内外四足行走机器人得研究概况..................................21.3机器人学主要涉及的学科内容......................................41.4课题简介.......................................................52.机器人系统总体设计...............................................................................62.1机器人系统结构概述..............................................62.2四足机器人研发流程.............................................72.3四足机器人系统结构设计..........................................93.四足机器人机械系统的结构设计技术.................................................103.1机器人机械设计的内容及特点....................................103.2机械结构总体设计..............................................113.3行走机构的研究.................................................133.4行走机构的设计计算............................................193.5转弯机构的设计................................................243.6腱机构.......................................................283.7机器人的外形设计..............................................283.8驱动系统的设计................................................294.控制系统的硬件设计.............................................................................354.1传感器.........................................................354.2控制器........................................................364.3控制系统.......................................................395.控制系统的软件设计................................................................