足球机器人挑球机构的优化设计与分析

The Soccer Robot Optimization Design of Mechanism

为了使足球机器人在运动时不必绕行对方球员而将球挑起传递给己方球员,根据所建的挑球机构动力学模型,对挑球机构中的基本参量进行分析,并在Pro/E中对模型进行干涉性检验。通过对目标函数的建立,对机构的速度、加速度、位移及其挑球角度进行优化分析,确定出最佳挑球参数。这些参数对机器人结构的优化起到很好的验证性,最终使机器人的挑球性能大大提高。

In order to make the soccer robot don＇t have to circumvent the other players and the ball will be start transfer to my teammates ,the model of the mechanics is set up ,and the Oblique function is used in Pro/E ,at the same time ,analysis the speed ,acceleration and displacement of the pick point , the dynamics model need to carry the further analysis ,the best initial angle has been proved .Through the software analysis and combining the data experiment show that the pick performance of the robot is greatly improved while the results are applied into the robot＇s design .