摘要
为实现行走机器人的运动需求,并考虑凸轮-连杆机构能够实现复杂的运动轨迹优点,根据行走机器人腿部运动轨迹,开展凸轮-连杆组合机构反求设计。通过复数矢量法对组合机构进行运动分析,利用Newton插值理论获取共轭凸轮输出摆杆的角位移函数,并基于解析法反求凸轮轮廓线方程,最终在MATLAB中实现凸轮轮廓线的绘制。结果表明设计的共轭凸轮-连杆组合机构可满足行走机器人的腿部运动要求。
To meet the movement requirement of walking robot, this paper conducts the inverse design of cam linkage combined mechanism according to the leg trajectory of walking robot. Complex vector method was used to analyze the motion of combined mechanism and Newton interpolation theory was applied to obtain angular displacement function of conjugate cam. Then, based on analytical method, the cam profile equation was acquired, and cam profile was finally demonstrated by MATLAB. The results show that the proposed mechanism can meet the leg movement requirement of walking robot.
作者
陈奇
张祺
姚志刚
刘蕊
贾帅
陈俊杨
CHEN Qi;ZHANG Qi;YAO Zhigang;LIU Rui;JIA Shuai;CHEN Junyang(School of Mechanical Engineering,Hefei University of Technology,Hefei 230009,China;School of Automobive and Traffic Engineering,Hefei University of Technology,Hefei 230009,China)
出处
《机械与电子》
2018年第5期71-74,80,共5页
Machinery & Electronics
基金
国家自然科学基金资助项目(51775158)
国家级大学生创新创业训练资助项目(201610359011)
关键词
机构轨迹规划
解析法
凸轮连杆组合机构
MATLAB仿真
trajectory planning agency
analysis methodology
cam connecting rod assembly mechanism
MATLAB simulation
