摘要
双单脚支撑转换时的冲击振动是影响仿人机器人稳定行走的重要因素。基于振动方程的特性和系统的稳定性分析了减振的设想和措施 ,并运用基于ANSYS平台所建立的THBIP -Ⅰ型仿人机器人精确的有限元弹性动力学模型 ,进行仿真分析比较 ,并加以实验验证。结果证明 ,有限元分析法是研究仿人机器人缓冲减振的一种有效途径 。
The impact vibration is one of the key factors of affecting the walking stability of a humanoid-robot at double-to-single support time. This paper investigated the vibration-eliminating methods by studying the characteristics of the vibration equations and by analyzing the system stability. The vibration-eliminating simulation and comparison with finite element analysis method was carried out based on a precise elasto-dynamics FEA model built for THBIP-Ⅰ biped humanoid-robot in the ANSYS. The experimental results indicate that this FEA method is capable of studying the vibration-eliminating of the humanoid-robot successfully. The conclusions can direct the high-quality control discipline for fast locomotion effectively.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2004年第8期666-669,共4页
China Mechanical Engineering
基金
清华大学 985基金资助项目 ( 0 8110 0 40 1)
