仿人机器人支撑转换期振动分析

Analysis of vibrations at the single-double support switch time in a humanoid robot

支撑转换期的冲击产生的振动是影响机器人实现稳定、快速的仿人步行的一个重要原因。该文分析了振动对仿人机器人步行性能的影响,运用三维有限元模态分析理论,采用ANSYS软件技术对THBIP- 双足机器人系统结构的振动特性进行了研究,建立了精确的有限元弹性力学模型,计算出结构的固有频率和振型,并结合静力学分析结果和频率测试实验结果,研究刚度、间隙和接触对振动特性的影响。频率测试、比较、分析结果说明,该模型能够正确分析出THBIP- 样机结构的力学特性。

Impact vibration is one of the key factors affecting the stability and speed of humanoid robot walking especially vibration at the single-double support switch time. The structural vibrations affecting the walking of a humanoid robot, the THBIP-Ⅰ biped, were studied with a three-dimensional finite element modal analysis using ANSYS code. The inherent frequencies and the vibration shapes of THBIP-Ⅰ were calculated using a precise finite element analysis (FEA) model for the robot. The effects of the rigidity, gap and contact on the vibrations of THBIP-Ⅰ were also investigated based on a statics analysis and frequency tests. Comparison of the FEA results with the results of the frequency tests indicate that the FEA model of the robot can be used to analyze its mechanical characteristics.