摘要
通过对人的行走方式进行观察模拟设计了仿人双足机器人,运用D-H方法分析其机构组成,为其设计了具有周期循环性的步态,并把三维实体模型导入到运动分析软件ADAMS中,添加约束驱动等,最后进行验证。将仿真结果应用到现实物理样机上,使物理样机能够实现人的行走动作。
By studying of human being＇ s walking style, bipedal robot is designed. D-H method is used to analyze its mechanical structure and periodic walking style is designed. These are all validated by its 3D entity model with constraints and motions in ADAMS. Physical prototype can walk in the style like human being＇ s walking style by using simulation result.
出处
《现代制造工程》
CSCD
北大核心
2012年第10期23-27,共5页
Modern Manufacturing Engineering
基金
上海市教育委员会重点学科建设资助项目(J50503)
