摘要
四足仿生机器人工作空间的形状和大小对其优化设计具有重要的作用.因此,对设计的四足仿生机器人单腿机构进行了简化,根据其髋关节、膝关节的运动参数范围,采用蒙特卡洛方法在Matlab软件上画出了其工作空间的形状,利用数值积分的思想求出了工作空间的面积大小并对几何误差进行了分析.最后,以足端工作空间面积最大为优化目标,确定了大腿和小腿的最优比例,实现了四足仿生机器人单腿机构工作空间的优化设计.
The shape and size of quadruped bio-robot workspace is very important for its optimum design.Firstly,According to the hip joint and knee joint angle range of the simplified quadruped bio-robot leg body,Monte Carlo method is used to generate the shape of workspace on Matlab.Secondly,the numerical integration is used to calculate the area of workspace,and the geometrical error analysis was conducted.Finally,Aiming at largest size of the workspace,we make sure the detailed project of structure optimization and finish objective optimization.
出处
《机械与电子》
2011年第7期57-61,共5页
Machinery & Electronics
基金
陕西省自然科学基础研究计划项目(SJ08ZT13-10)
