摘要
参照人的运动形式设计双足机器人的结构,运用D-H坐标方法对其机构进行分析,并为其设计了具有周期循环性的运动模式。在MATLAB软件中对双足机器人进行动力学计算,将双足机器人的三维实体模型导入到运动分析软件ADAMS中,添加约束驱动等,并输入规划好的轨迹进行仿真,再将通过仿真得出的各关节扭矩与动力学分析结果进行比较,以验证动力学计算的正确性,在此基础上实现了双足机器人物理样机的制作。
According to the motion of the robot ,the structure of the biped robot is designed carefully and the D-H is used to ana-lyze the robot’s institutions.The robot has a cyclical movement pattern .The dynamics is calculated in MATLAB,and the 3D-solid model is put into ADAMS with constraints and driven .The motor torque of each joint after simulation is compared with the theo-retical calculation to verify the correction of dynamics calculation ,the manufacture of physical prototype is realized on this base .
出处
《现代制造工程》
CSCD
北大核心
2014年第12期41-45,58,共6页
Modern Manufacturing Engineering
