论文总字数：20560字

摘 要

两栖动物，一种存活了几百万年的古老生物，最原始的脊椎动物。两个主要特征都从鱼类的祖先那里继承而来，既适合于水生生物，也适合于陆生生物。正中生活的新特征，不包括地球上的南极洲和格陵兰岛，都有两栖动物的身影。因此，两栖动物具有很强的适应环境的能力。

近年来，由于计算机系统的繁荣快速发展，机器人的先进性得到了显著的提高，并且机器人的种类持续增加。除了一些日常我们见到的在生产车间代替人类重复同一工作的工业生产机器人，还有我们在电视上见到的用于航天探测的，例如好奇者号火星探测器。再比如我们所引以为傲的嫦娥探测器等。还有用于服务行业的服务型机器人例如阿里的天猫机器人，再比如在城市反恐以及军事作战领域我们用到的排爆机器人以及无人机。但他们都有相应得弊端。例如，陆地移动机器人无法执行水下活动，因为它们不具有水下推进或防水功能，大多数水下机器人缺乏或运动能力不足，受两栖动物启发，人们对可以适应不断变化的陆地和水域地形以及复杂水环境的两栖机器人非常感兴趣^[5]。

研究和观察表明，通过比较分析，螃蟹是研究具有高柔韧性，强可控性和高机动性的浅两栖动物的理想仿生生物学模型。它是。在对海螃蟹生物学原型进行分析的基础上，获得了仿生两栖机器人螃蟹的本构结构，建立了八腿结构和具有仿生生物模型的数学模型

采用多CPU的结构的控制器，由一个CPU对其中三条步行足进行控制。然而整个系统为多CPU控制结构，一个主要CPU控制整体，其余CPU分别控制自身所负责内容。

关键词：两栖仿生机器蟹 控制系统 节驱动 数字信号处理 多CPU控制

Abstract

Amphibian, an ancient creature that has survived for millions of years, the most primitive vertebrate. Both main characteristics are inherited from the ancestors of fish, which are suitable for both aquatic and terrestrial organisms. The new characteristics of life in the middle, excluding Antarctica and Greenland on the earth, have amphibians.

In recent years, due to the prosperity and rapid development of computer systems, the advanced nature of robots has been significantly improved, and the types of robots continue to increase. In addition to some of the industrial production robots that we see every day in the production workshop instead of humans repeating the same work, there are also those we have seen on TV for space exploration, such as the Mars rover Curiosity. Another example is the Chang'e detector we are so proud of. There are also service robots used in the service industry, such as Ali's Tmall robot, and for example, anti-explosive robots and drones that we use in the field of urban counter-terrorism and military operations. But they all have corresponding disadvantages. For example, land mobile robots cannot perform underwater activities because they do not have underwater propulsion or waterproof capabilities. Most underwater robots lack or lack athletic ability. Inspired by amphibians, people can adapt to changing land and water terrain and Amphibian robots in complex water environments are very interested ^[5].

Studies and observations show that through comparative analysis, crabs are ideal bionic biological models for studying shallow amphibians with high flexibility, strong controllability, and high mobility. it is. Based on the analysis of the biological prototype of the sea crab, the constitutive structure of the bionic amphibious robot crab was obtained, and an eight-legged structure and a mathematical model with a bionic biological model were established

  A controller with a multi-CPU structure is used to control three walking feet by one CPU. However, the entire system is a multi-CPU control structure, one main CPU controls the whole, and the remaining CPUs control their own contents.

Key words：Amphibious Bionic Robot Crab，Control system，Joint drive，Digital signal processing，Multi-CPU control

目录

第一章 绪论……………………………………………………………………………3

1.1引言…………………………………………………………………………………3

1.2 两栖机器人研究的目的……………………………………………………………4

1.3 两栖机器人研究的国内外现状……………………………………………………4

1.4两栖机器人研究的意义……………………………………………………………6

1.5两栖仿生机器人研究关键技术……………………………………………………7

第二章 两栖仿生机器人的模型构建 ……………………………………………8

2.1海蟹的机构与功能模型建立………………………………………………………8

2.1.1海蟹足系仿生机构模型 ………………………………………………………8

2.2两栖仿生机器蟹机构模型分析……………………………………………………8

2.3两栖仿生机器蟹关节电机驱动方法研究…………………………………………11

2.3.1微型电机关节驱动器的技术特点……………………………………………12

2.3.2关节驱动的传动方式…………………………………………………………12

2.3.3关键器件选择…………………………………………………………………13

2.4两栖仿生机器蟹受力分析…………………………………………………………14

1. 两栖仿生机器蟹控制算法

3.1两栖仿生蟹控制器及硬件设计……………………………………………………17

3.2两栖仿生蟹控制软件设计研究……………………………………………………20

3.2.1 直流伺服电机的控制及其算法………………………………………………23

3.2.2 PID算法原理与计算机数字实现……………………………………………23

3.2.3 关节控制软件结构……………………………………………………………28

3.2.4 信号处理算法与软件实现……………………………………………………31

论文总结…………………………………………………………………………………34

结语………………………………………………………………………………………35

参考文献………………………………………………………………………………36

致谢………………………………………………………………………………………40

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