摘 要

Abstract 2

1 绪论 3

1.1 本文的研究背景 3

1.2 本文主要研究内容的国内外研究现状 3

1.3 本文研究的目的及意义 4

2 机器狗机械结构的总体设计方案 6

2.1 生物狗的运动与结构分析 6

2.2 机器狗机械结构的总体设计方案 7

2.3 机器狗机械结构设计方案分析 9

3 机器狗腿部机械结构的设计 13

3.1 机器狗腿部结构的要求 13

3.2 机器狗的腿部结构设计 14

3.2.1 机器狗的髋关节结构设计 14

3.2.2 机器狗的膝关节设计 16

3.2.3 机器狗的踝关节设计 18

3.3 机器狗腿部结构的总体装配 21

4 机器狗腿部结构的力学分析和驱动装置设计 24

4.1 机器狗腿部结构的受力分析 24

4.2 机器狗关节的驱动部件设计 25

5 总结与展望 30

5.1 本文主要成果 30

5.2 未来工作展望 32

参考文献 33

致 谢 35

摘要

本文根据国内外对机器人关节的研究，在分析生物狗生理结构的基础上，设计出机器狗的机械结构，包括机器狗的躯干和四条腿。

主要的工作内容有三个方面，第一个是分析生物狗的行为和身体结构特征，比如各个关节比例以及行走姿态，包括生物狗的身体结构和骨骼结构，以及生物狗的运动形式和产生运动的方式，从中得到启示，简化出可以用于机械结构的模型，当然这个简化的模型必须合理，第二就是确定一个机器狗的整体结构形式，大致可以分为串联型和并联型，本文主要研究讨论串联型结构即三段式腿部结构，即当今世界上研究比较多的关节型机器人，设计的重点和关键在机器狗的各个关节的设计上，第三是详细设计单个腿上的关节，具体包括关节的传动形式，驱动装置的选取、定位和固定，传动装置的设计，本文的机器狗的腿部有三个关节，分别是髋关节、膝关节和踝关节，在合理地设计完各个关节的结构之后，最后再来确定机架即躯干的形式，这里的躯干直白地说就是用来固定腿部结构中某些零部件的机架，并在结构完成之后分析运动形式，分析各个关键点的受力，校核强度，设计工作做完之后，画出机器狗的装配图，可以用于工厂加工生产，并能组装，装配过程符合设计要求，并且装配完毕后跟最初设计的结构形式一致。

论文最后总结了所有研究工作的成果与不足，同时，对后续工作提出了一些展望，以便对机器人领域的研究更加深入。

关键词：传动；轴承；机械结构；力学分析；身体结构；运动分析

Abstract

According to the research of robot joints at home and abroad, mainly studies the behavior of the dog and bone structure, to design the mechanical structure of the robot dog, including robot dog trunk and four legs.

Main work content has three aspects: the first is to analyze the dog's behavior and body structure characteristics, such as the proportion of each joint and the walking posture, including biological the dog's body structure and bone structure, and biological dog form of exercise and movement way, get inspiration, to simplify the model can be used in the mechanical structure, this simplified model must be reasonable, of course, the second is to determine a robot dog overall structure of the form, which can be roughly divided into series and parallel model, this paper mainly studies the leg structure of three series structure, namely the research in the world today, more joint type robot, the key of the design on the design of the robot dog all joints, the third is the detailed design of a single leg joints, including joint transmission form, selection of actuating device, positioning and fixed, the design of the transmission device, this paper machine dog leg has three joints, hip, knee and ankle, after in the reasonable design the structure of each joint, and then to determine the frame in the form of the trunk, trunk frankly said here is to fixed legs in some parts of frame structure, and analyzing the form after the completion of a structure, analyze the key points of stress, checking intensity, design work is done, draw the assembly drawing of robotic dog, can be used for processing plant production, assembly, assembly process comply with the design requirements, and assembled and followed by the structure of the original design.

Thesis finally summarizes all the research achievements and deficiencies, at the same time, puts forward some prospects on follow-up work, in order to study more deeply in the field of robot.

Key Words：Transmission; Bearing; The mechanical structure; Mechanics analysis; Body structure; Motion analysis