摘要
通过总结四足动物的行走方式设计了仿生四足机器人,运用DH方法分析其机构得出了Ja-cobi矩阵和运动学原理,为其设计了连续性对角小跑步态,并把添加了约束的三维实体模型导入到运动分析软件ADAMS中进行验证,通过分析运动之后质心的位移,关节的转矩,验证了步态规划的合理性及所选电机均符合要求。
Through studying the four-legged animal’s walking style,the bionic quadruped robot is designed.Jacobi matrix and the kinematics principle are obtained by analyzing its mechanical structure using DH method.The continuity of quadruped gait is designed and the model with constraints is verified in ADAMS.Through the analysis of the displacement of the center of mass and joint torque,the rationality of the gait programming and selected motor meets the requirement.
出处
《机械传动》
CSCD
北大核心
2012年第6期40-43,54,共5页
Journal of Mechanical Transmission
基金
上海市教育委员会重点学科建设项目资助(J50503)
