摘要
通过观察自然界大壁虎的地壁过渡步态,结合已有仿壁虎机器人自身的结构特点,设计了一种仿壁虎机器人的侧爬型地壁过渡步态。利用Matlab软件求解了足端脚掌的运动空间以及落脚点的选择,对关键步态进行仿真,从而实现机器人的地壁过渡。对关键步态中间进行插值,以同样的方法求解即可得到整个过渡过程中的步态运动系列和电机旋转角度。研究表明,斜爬型过渡方式能够实现机器人互相垂直的地、壁面间的过渡运动。
The creeping characteristics of gecko in the nature are combined with the characteristics of the previous gecko-robot to design a creeping robot in which the lateral creeping process of geoko is simulated. Matlab software is used to compute the workspace of its paws,which is used to deduce the footprint,and to simulate the whole process,thus realizing its creeping process from ground to wall. Then the midterm gait is computed by interpolation to obtain the serial gaits and motor＇s rotation angel during the whole process. The results show that the lateral creeping mode can be used for the robot to realize the vertical creeping.
作者
王焕
杨佳欣
张昊
尹铭泽
卢敏
倪进峰
WANG Huan;YANG Jiaxin;ZHANG Hao;YIN Mingze;LU Min;NI Jinfeng(College of Aerospace;College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 2Z0016,China)
出处
《机械制造与自动化》
2018年第4期86-90,共5页
Machine Building & Automation
基金
国家自然科学基金项目(51275237)
江苏省自然科学基金项目(BK20151473)
