摘要
利用Matlab/Sim Mechanics机构仿真工具建立了仿人机器人机构的仿真模型,并由模型图直观地观察仿人机器人的动态步行过程,求出了机器人躯体重心的角加速度和髋关节的扭矩变化图。建立了仿人机器人的瞬时状态的平面五杆机构运动模型,根据Kane法求解出了机构的动力学方程。在机构分析中应用Sim Mechanics仿真工具,为机械系统的仿真提供一种十分简便的方法。
The SimMechanics of Matlab toolbox is used to build the simulation model of humanoid robot mechanism. According to the model diagram,the humanoid robot dynamic walking process was observed intuitively,and the angular acceleration of robot body center of gravity and torque variation map of hip joint were solved. A planner five-bar mechanism motion model simulating to the instan-taneous state of humanoid robot was established,based on Kane method to solve the dynamic equation of the mechanism. The SimMe-chanics simulation tools are applied in the mechanism analysis,which provides a convenient and simple method for the mechanical sys-tem simulation.
出处
《机床与液压》
北大核心
2014年第21期75-79,共5页
Machine Tool & Hydraulics
