摘要
四足机器人属仿生机器人,产品设计要经过周而复始的设计-实物试验-再设计过程,才能达到要求的性能。本文采用虚拟样机技术对四足机器人进行结构设计,通过在虚拟样机系统中加入零件的物理信息(如材料种类、密度、关节摩擦,接触力等),在ADAMS环境下,对虚拟的四足机器人进行运动仿真。仿真试验发现机器人膝关节所受冲击力过大,因此改进方案,重新设计腿部结构。改后结构的仿真试验表明:新结构明显的减小了机器人运动中所受的冲击力,体现了虚拟样机技术在四足机器人结构设计与功能模拟一体化,便于提出优良设计方案的优势。
We present the development of a quadruped biomimetie robot by virtual prototyping technology. Firstly, the dimension parameters of its stueture were designed according to its biomimefic structure, and then virtual prototype model was built in ADAMS/View. The physical information （ material category, density, joint friction, contact force, etc. ） was chosen for the virtual model, and the kinematics simulation is carried out. It is found by simulation analysis that the impact force exerted on the robot knee joint is too big so that the crus structure need to be improved. The crus structure was then redesigned. Simulation results indicate that the new structure obviously reduced the impact of the robot knee joint.
出处
《机械科学与技术》
CSCD
北大核心
2008年第9期1171-1174,共4页
Mechanical Science and Technology for Aerospace Engineering
关键词
四足机器人
虚拟样机
结构设计
quadruped robot
virtual prototyping
structural design
