摘要
双足机器人有良好的地面适应能力,它可以通过改变腿部结构来达到跨越不同的障碍物,具有广阔的应用前景。针对双足机器人结构复杂,运动控制困难的特点,研究了其单腿的运动学模型并利用Matlab中的Simulink和SimMechanics工具箱建立了单腿的可参数化的仿真模型。对腿部的运动情况和控制输入输出进行仿真,仿真结果表明腿部的结构参数能够实现预定的运动。为双足机器人腿部参数的优化和样机的研制提供了理论依据。
The biped robot has better adaptability to ground , it has wide application prospect , it may reach over various obstacles by changing the structure of the legs. Aimming at the complicated structure and control difficulties of the robot , the kinematic model of the single leg is studied and the parametric simulation model of the leg is built based on the toolbox of Simulink and SimMechanics of the Matlab software. Simulation is carried to the input and output of the leg＇ s motion , the results indicate the parameters of the leg can achieve the expected motion. Theoretical basis is provided for the optimization of the robot parameters and prototype development.
出处
《科学技术与工程》
2011年第3期612-615,共4页
Science Technology and Engineering
基金
黑龙江科技学院青年基金(07-06)资助
