摘要
犬类腿部运动的仿真模拟对仿生导盲犬的设计具有重要作用,在对于仿生导盲犬的设计中,采用简单常见的连杆机构,通过若干(两个以上)有确定相对运动的构件用低副(转动副或移动副)连接组成的机构,利用低副是面接触,其耐磨损的特点,来实现设计中对犬类腿部运动的仿真模拟,组成腿部结构的各连杆之间连接的位置均存在转动副,且各连杆之间交错分布。针对犬类的踱步(pace)步态、小跑(trot)步态与奔跑(run)步态三种步态分别进行仿真模拟,借助Adams软件,通过对连杆机构的转动副施加不同的驱动函数,使仿生导盲犬的运动与真实犬类步态拟合。
The simulation of canine leg movements is important for the design of a bionic guide dog.In the design of the bionic guide dog,a simple and common linkage mechanism is used to realize the simulation of canine leg movements in this design by linking several(more than two)components with defined relative movements with a low pair(rotating pair or moving pair).The leg structure is simulated with a staggered distribution of rotating pairs between the connecting rods.The canine gait is simulated for the pacing(pace)gait,the troting(trot)gait and the running(run)gait,and with the aid of the Adams software,different driving functions are applied to the rotating subassemblies of the linkage mechanism to fit the movement of the bionic guide dog to the real canine gait.
作者
郑海青
蒋东霖
Zheng Haiqing;Jiang Donglin(College of Engineering,CChangchun Normal University,Changchun Jilin 130032)
出处
《机械管理开发》
2023年第3期8-10,15,共4页
Mechanical Management and Development
基金
2021级国家级大学生创新创业项目“基于生态治理草场牧区粪便收集运输智能一体化装置”,项目编号:202110205030。
