摘要
为实现机器人在森林地形环境下的消防作业,设计了一种六足仿生机器人的运动机构。分析了机器人的机械结构、腿部结构特点以及空间运动范围。利用Solid Works三维软件建模并导入ADAMS软件中,进行六足机器人在平坦地面上不同工作模式下三种运动姿态的切换、前进以及崎岖斜坡的爬行仿真。分析了不同地形条件下机器人的质心位移、平稳性和腿关节驱动力。仿真结果验证了机构设计的合理性与正确性,旨在为森林消防机器人的后续研究工作提供参考依据。
For the realization of fire-fightlng operations with the help of robot in forest terrain environment, a hexapod robot motion mechanism is designed. The mechanical structure of robot, the structure characteristic of leg and the space range of motion are an- alyzed. After establishing the model with SolidWorks,import it to ADAMS to simulate switches among three kinds of motion ges- tures, movements in different operating modes on flat ground, and the climbing on rugged slopes. Parameters such as centroid dis- placement, stability and driving force of leg joints are analyzed. Indicates that the mechanism design was reasonable and rational, which is aimed to provide a reference for forest fire-fighting robot in the following study.
出处
《现代制造工程》
CSCD
北大核心
2015年第7期21-25,20,共6页
Modern Manufacturing Engineering
基金
国家公益性行业(林业)科研专项重大项目(201404402-03)
江苏省研究生培养创新工程项目(KYLX_0869)
