被动无边轮辐运动特性的Adams仿真分析

Adams simulation analysis of motion characteristic of passive rimless-wheel

对双足被动机器人最初模型——二维无边轮辐进行了研究,建立了其动力学模型,并通过Adams分析了其运动过程中的特点,逐一分析了轮辐初速度、质量、足半径、辐条数量、辐条长度、转动惯量以及斜面坡度对无边轮辐运动的影响.结果表明:合适的初速度和斜面坡度,以及较大的质量、较大的足半径、较多的辐条数量、较短的辐条长度、较大的转动惯量会使无边轮辐形成快速而平稳的周期运动.

In order to get a better convergence and transition for passive bipedal robot research,this article analyzed the initial model of passive biped robot,i.e.the two-dimensional rimless-wheel model.Its dynamic model was constructed and its motion characteristic was analyzed with Adams.The effect of initial velocity,quality,foot radius,the number of spokes,the length of spoke,moment of inertia and slope gradient on the movement of rimless-wheel was analyzed.Results show that a right initial velocity and slope gradient,larger quality and foot radius,more and shorter spokes,as well as larger moment of inertia can lead to a fast and smooth cycle motion for rimless-wheel.