抛投式机器人碰撞参数分析及优化

Analysis and Optimization of the Parameters of Drop Impact Imposed on the Micro-robot

抛投式机器人跌落碰撞过程的研究已成为机器人领域中研究的热点。在碰撞过程中,为了使机器人的结构及内部元件不受损伤,要保证机器人所受的冲击力尽可能小,而在机器人与地面的跌落过程中涉及到众多参数,因此研究其对冲击力的影响十分重要。文章基于虚拟样机技术的试验设计方法,采用多体动力学手段,研究了机器人跌落碰撞过程中各个参数对冲击力大小的影响,减少了实验的次数,降低了成本,提高了可重复性,缩短了研发的周期。

It is very important to predict the relation between parameters and the drop impact by simulation techniques. To study the relation, nonlinear factors have to be taken into account. In this case, design of experiment is introduced. Under the help of ADAMS, we can also optimize the parameters to get the minimum of the drop impact so as to protect the structure of the robot and elements in it. Compared with test method, the simulation of ADAMS could save the time consumption, the test cost and improve the design quality significantly.