Pro/E机构仿真模块行走机器人创新设计

The Creative Design of Pace Robot with Pro/E Mechanism Simulation Module

国际上行走机器人的流行设计方法是在每个活动关节处安装伺服电机,根据生物的行走姿态建立数学方程并求得位移的解析解,编程控制各伺服电机的运转,获得步行运动轨迹。该设计模式数学求解过程复杂很难获得正确的解析解,一般利用数学矩阵方程组获得运动轨迹精确的数值解。由于行走机器人属于尖端复杂技术领域,其流行设计方法几乎是唯一可循模式,直接负面后果是伺服电机或液压油缸数量众多、机构笨重、制造昻贵、控制策略难度增大。作者企图通过Pro/E机构仿真模块,结合六杆机构运动模拟,以单电机动力源通过杆件约束求出单自由度的行走机器人近似步态轨迹。

The traditional mode of the pace robot development is that the motion path imitating pace is obtained through joints attached servo motors pacing pose building mathematic matrix equation group. The subsequent negative influences are too much in servo motor or oil cylinder quantities, clumsy and heavy in mechanism, expensive in manufacture, too difficult in control strategy. The author combines six rods mechanism with Pro/E mechanism motion simulation to solve the approximate step path of pace robot in geometry.