摘要
针对现有机器人能量消耗大和仿生特性不强的特点,研制开发一种基于被动动力式的双足机器人,并把四连杆多轴仿生膝关节引入机器人腿中.在SOLIDWORKS(三维绘图软件)中建立了在斜面上行走的被动动力式双足机器人的三维模型,采用ADAMS(机械系统动力学仿真软件)进行动力学仿真得到较好的仿真效果。验证了具有四连杆多轴膝关节的被动动力式双足机器人可以在斜面上平稳步行。
To improve the walking stability of the passive bipedal robot with knees,a four-linkage multiaxial bionic knee is implemented in the robot leg,developing a new kind of passive-dynamic bipedal robot. A 3D dynamic simulation model of the robot walking on a slope is established in MSC.ADAMS and a numerical simulation is performed simultaneously. The robot’s smooth walking was achieved,which contributes to understand the nature dynamic characteristics of human walking,and provide a clue to improve the bipedal robot’s dynamic performance.
出处
《科技通报》
2018年第4期222-226,共5页
Bulletin of Science and Technology
基金
2016年度河南省科技攻关计划项目(项目编号:18081)
