摘要
为了有效的提高双足机器人在直线运动上的运动速度,自主创新设计了摆腰式的双足机器人。此设计的目的是通过无膝双足机构减少双足机器人在寻找稳定重心过程中的时间。主要目的是研究此机构在运动过程中的稳定性。首先,根据机构设计及其工作原理在SolidWorks软件中建立三维建模,将机构简化为六连杆模型。然后,运用正运动学分析理论建立正运动学方程,并结合三维模型中各个结构的数据参数,推导出摆腰双足机器人各个关节的运动函数及重心坐标。最后,在此基础上应用ADAMS软件对摆腰双足机器人进行运动仿真,求出在既定电机速度的情况下各个关节的运动变化曲线及速度变化情况,进而得到摆腰双足机器人在前向运动过程中重心变化情况,得出其稳定情况。
In order to effectively improve the speed of movement of the biped robot in a straight line,a swing-type bipedal robot was independently designed.The aim of this mechanism design is to reduce the time of bipedal robots in finding a stable center of gravity through a knee-less bipedal mechanism.The main purpose of this paper is to study the stability of this mechanism during the exercise.First of all,three-dimensional modeling was established in SolidWorks software according to the design of the organization and its working principle. The mechanism was simplified to a six-bar linkage model.Then,using forward kinematics analysis theory to establish the positive kinematics equations,and combining the data parameters of each structure in the three-dimensional model,the kinematics function and center of gravity coordinates of each joint of the swinging biped robot are deduced.Finally,on this basis,the ADAMS software is used to simulate the swing-waist biped robots,and the movement curve and velocity of each joint under the condition of a given motor speed are obtained.Then,the center of gravity of the waist-waist biped robot during forward movement was obtained,and its stability was obtained.
作者
韩军
郑阳
HAN Jun;ZHENG Yang(School of Mechanical Engineering,Inner Mongolia University of Science and Technology,Mongolia Baotou014010,China)
出处
《机械设计与制造》
北大核心
2020年第5期167-170,174,共5页
Machinery Design & Manufacture
