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DH方法分析其机构,为其设计了具有周期循环性的下楼梯步态,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,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下楼梯动作。
On the foundation of studying of human being＇s walking style,bipedal robot is designed.DH method is used to analyze its mechanical structure and its periodic downstairs style is designed.These are all validated by its 3D entity model with constraints and motions in ADAMS.Physical prototype can downstairs in the style like human being＇s walking style by using simulation result.
出处
《机械设计与研究》
CSCD
北大核心
2012年第5期23-26,共4页
Machine Design And Research
基金
上海市教育委员会资助重点学科建设项目(J50503)
