摘要
通过对原型生物体"狗"的观察分析,简化并建立了四足仿生机器人步行腿的初始结构,进而确定了机器人的整体结构形式。以机器人步行腿的最大足端工作空间为优化目标,采用数值分析法,借助MATLAB求解步行腿结构参数。通过Adams对建立的模型进行了仿真分析,仿真结果表明该结构参数设计合理,在满足机器人足端工作空间最大的条件下,能够实现机器人稳定行走。
Based on the analysis of the structure data of animal ＇dog＇, the original walking leg structure of Quadruped bionics robot is simplified and set up at first, then the framework of Quadruped bionics robot is established. To realize the maximum of foot workspace of walking leg, the parameters of walling leg are solved by numerical analytical method and MATLAB. The model of robot is simulated and analyzed by Adams. The simulation concludes that the optimized parameters not only can achieve the maximum of foot workspace, but also can realize the robot＇ s quick and stable walking.
出处
《组合机床与自动化加工技术》
2008年第12期21-24,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国防基础科研资助项目(A2720060275)
