轮式仿人机器人动态稳定性分析及腰部控制研究

仿人机器人研究从仿生学角度具有拟人功能的智能机器人，它需要结合机构、控制、传感和材料等技术。随着社会经济与科技水平的发展，使仿人机器人引入人类环境，与人类一同工作、合作和交互成为可能，仿人机器人的研究也成为当今机器人研究中的热点内容之一。本论文以中科院沈阳自动化研究所机器人学重点实验室承担的国家863计划“十五”项目——“宜人化双臂操作型服务机器人”为依托，以本项目中的轮式仿人机器人为研究对象。本论文的主要内容包括：对项目样机中的差动腰部机构的运动学、动力学建模，腰部机构基于运动学的控制算法及实验研究；仿人机器人的整体动力学建模，基于动力学模型的腰部机构控制算法与仿真研究；依据零力矩点(ZMP)理论完成轮式仿人机器人的ZMP建模及其动态稳定性的深入分析。人类的腰部具有高度的灵活性、柔韧性，是人体系统运动的调节中枢。仿人机器人的腰部机构同样应具有调节系统平衡、协调系统运动的作用。本文中仿人机器人的腰部采用新颖的差动并联驱动的腰部机构。本文建立了该机构的运动学和动力学模型，采用分解运动速度控制实现了差动腰部机构的运动学控制，并进行了实验研究。仿人机器人是一个多自由度、非线性、具有复杂运动学、动力学特性的多刚体系统。本文在合理简化的基础上，利用高效牛顿－欧拉动力学建模方法完成了本轮式仿人机器人的整体动力学建模，分析了各关节间的动力学影响，并在此基础上给出了仿人机器人腰部机构动力学模型，该模型考虑了车体、手臂运动及手部外负载的动力学影响。本文还对基于动力学模型的腰部机构带计算力矩补偿的PD伺服控制与腰部机构基于运动学的PD伺服控制进行了仿真比较研究，仿真结果表明，基于动力学模型的腰部机构计算力矩控制算法能有效地提高腰部机构的位姿跟踪精度。本轮式仿人机器人移动性好，但支撑点少，上身重量偏大，它的动态稳定性成为不容忽视的问题。零力矩点理论是用于判定机械系统动态平衡的经典理论，至今仍被广泛应用。本文基于零力矩点概念，结合机器人的高效牛顿－欧拉动力学模型，建立了仿人机器人的基于车体坐标系的迭代ZMP计算模型，该模型考虑了机器人关节的质量、惯量等参数，包含了惯性力、离心力、重力等对ZMP的影响。经分析可知，腰部机构的运动模式和车体运动加速度是影响ZMP的主要因素，进而给出了ZMP的简化计算模型，依据该简化模型，本文深入讨论了腰部机构与车体的协调运动和轮式仿人机器人的动态稳定性之间的关系，为考虑机器人动态稳定性的腰部机构运动规划及仿人机器人的动态稳定性控制奠定了基础。

大兴安岭南段中生代火山-侵入杂岩带的双层叠置构造体制兼论滇中武定、易门碳酸质火山岩年代、来源及矿库与找矿研究

These are two parts included in this report. In the first part, the zonation of the complexes in its series, lithofacies, the depth of magma source and chambers is discussed in detailed for the first time based on the new data of petrol-chemistry, isotopes, tectono-magma activity of Mesozoic volcano-plutonic complexes in the southern Great Hinggan Mts. Then, the genetic model of the zonality, double overlapped layer system, is proposed. The main conclusions are presented as follows: The Mesozoic volcanic-plutonic complexes in the southern Great Hinggan were formed by four stages of magma activity on the base of the subduction system formed in late Paleozoic. The Mesozoic magmatic activity began in Meso-Jurassic Epoch, flourished in late Jurassic Epoch, and declined in early Cretaceous Epoch. The complexes consist dominantly of acidic rocks with substantial intermediate rocks and a few mefic ones include the series of calc alkaline, high potassium calc alkaline, shoshonite, and a few alkaline. Most of those rocks are characterized by high potassium. The volcano-plutonic complexes is characterized by zonality, and can be divided mainly into there zones. The west zone, located in northwestern side of gneiss zone in Great Xinggan mountains, are dominated of high potassium basalts and basaltic andesite. The middle zone lies on the southeast side of the Proterozoic gneiss zone, and its southeast margin is along Huangganliang, Wushijiazi, and Baitazi. It composed of dominatly calc-alkaline, high potassium calc-alkaline rocks, deep granite and extrusive rhyolite. The east zone, occurring along Kesheketong Qi-Balinyou Qi-Balinzuo Qi, is dominated of shoshonite. In generally, southeastward from the Proterozoic gneiss zone, the Mesozoic plutons show the zones-mica granitites zone, hornblende-mica granitite zone, mica-hornblende granitite zone; the volcanic rocks also display the zones of calc alkaline-high potassium calc alkaline and shoshonites. In the same space, the late Paleozoic plutons also display the same zonality, which zones are combined of binary granite, granodiorite, quartz diorite and diorite southeast wards from the gneiss. Meso-Jurassic Epoch granite plutons almost distribute in the middle zone on the whole. Whereas late Jurassic Epoch volcanic rocks distribute in the west and east zone. This distribution of the volcano-plutonic complexes reveals that the middle zone was uplifted more intensively then the other zones in Meso-Jurassic and late Jurassic Epoches. Whole rock Rb-Sr isochron ages of the high potassium calc-alkaline volcanic rocks in the west zone, the calc-alkaline and high potassium calc-alkaline granite the middle zone, shoshonite in the east zone are 136Ma, 175Ma and 154Ma, respectively. The alkaline rocks close to the shoshonite zone is 143Ma and 126Ma. The isochron ages are comparable well with the K-Ar ages of the rocks obtained previously by other researchers. The compositions of Sr ans Nd isotopes suggest that the source of Mesozoic volcanic-plutonic complexes in Great Hinggan Mts. is mostly Paleo-Asia oceanic volcanic-sedimentary rocks, which probably was mixed by antiquated gneiss. The tectonic setting for Mesozoic magmatism was subductive continental margin. But this it was not directly formed by present west Pacific subduction. It actully was the re-working of the Paleozoic subduction system( which was formed during the Paleo-Asia ocean shortening) controlled by west Pacific subduction. For this reason, Although Great Hinggan Mts. is far away from west Pacific subduction zone, its volcanic arc still occurred echoing to the volcanic activities of east China, it, but the variation trend of potassium content in volcano-plutonic complexes of Great Hinggan is just reverse to ones of west Pacific. The primitive magmas occurred in the southern Great Hinggan Mts. Include high-potassium calc-alkaline basalt, high potassium calc-alkaline rhyolite, high potassium rhyolite, non-Eu negative anomaly trachy-rhyolite et al. Therefore, all of primitive magmas are either mafic or acid, and most of intermediate rocks occurring in the area are the products of Mesozoic acid magma contaminated by the Paleozoic volcanic- sedimentary rocks. The depth of those primitive magma sources and chambers gradually increase from northwest to southeast. This suggests that Paleozoic subduction still controlled the Mesozoic magmatism. In summary, the lithosphere tectonic system of the southern Great Hinggan Mts. controlling Mesozoic magmatism is a double overlapped layer system developing from Paleozoic subduction system. For this reason, the depth of crust of the southern Great Hinggan Mts. is thicker than that of its two sides, and consequently it causes regional negative gravity abnormity. The second part of this report shows the prolongation of the research work carried on in my doctor's period. Author presents new data about Rb-Sr and Sm-Nd isotopic compositions and ages, geochamical features, genesis mineralogy and ore deposit geology of the volcanic rocks in Kunyang rift. On the base of the substantial work, author presents a prospect of copper bearing magnetite ore deposit. The most important conclusions are as follows: 1. It is proved that all of these carbonatites controlled by a ringing structure system in Wuding-Lufeng basin in the central Yunnan were formed in the Mesoproterozoic period. Two stages could be identified as follows: in the first stage, carbonatitic volcanic rocks, such as lavas(Sm-Nd, 1685Ma), basaltic porphyrite dykes(Sm-Nd, 1645Ma), pyroclastic rocks and volcaniclastic sedimentary rocks, formed in the outer ring; in the second stage, carbonatitic breccias and dykes(Rb-Sr, 1048 Ma) did in the middle ring. The metamorphic age of the carbonatitic lavas (Rb-Sr, 893 Ma) in the outer ring was determined. The magma of carbonatitic volcanic rocks derived mainly form enriched mantle whose basement is depleted mantle that had been metasomated by mantle fluid and contaminated by Archaean lower crust. Carbonatitic spheres were discovered in ore bearing layers in Lishi copper mining in Yimen recently, which formed in calcite carbonatitic magma extrusion. This discovery indicates that the formation of copper ore deposit genesis relates to carbonatitic volcanic activity. The iron and copper ore deposits occurring in carbonatitic volcanic- sedimentary rocks in Kunyang rift results from carbonatitic magmatism. Author calls this kind of ore deposits as subaqueous carbonatitic iron-copper deposit. The magnetic anomaly area in the north of Lishi copper mining in Yimen was a depression more lower than its circumference. Iron and copper ores occurrig on the margin of the magnetic anomaly are volcanic hydrothermal deposit. The magnetic body causing the magnetic anomaly must be magnetite ore. Because the anomaly area is wide, it can be sure that there is a large insidious ore deposit embedding there.