摘要
从仿生蟑螂机器人机构特点出发,基于运动灵活性,选择椭圆形身体布局,分别以单腿工作空间和整机雅克比矩阵的条件数倒数作为灵巧度指标,在兼顾运动灵活性和可靠性的基础上,对机器人机构参数进行优化配置,选择了最优的杆长比例.利用分析得出的优化尺寸建立ADAMS参数化仿真模型进行实验研究,仿真结果与理论分析相吻合,验证了优化配置的可行性和正确性,为样机的研制和机器人的驱动及控制等进一步研究奠定了基础,也为其他六足机器人的开发提供了参考.
The oval body configuration based on the characteristic of mechanism and the locomotion dexterity of a bionic cockroach robot was chosen.The workspace of a single leg and the dexterity denoted by the reciprocal of condition number of the whole body＇s Jacobian matrix were used to optimize and configure the parameters of mechanism.The optimal length ratios of links were decided via dexterity and reliability.The parameterization simulation model was built in ADAMS.Simulation result according with the analysis by theory indicates that the optimization and configuration are correct and suitable.This method provides a basis for the development of actual proto and the control of bionic cockroach robot.It also can be referable for the design of other hexapod robots.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2010年第5期513-517,528,共6页
Journal of Beijing University of Aeronautics and Astronautics
基金
国家863计划资助项目(2008AA04Z210)
国家自然科学基金资助项目(60775059)
北京市自然科学基金资助项目(3093021)
关键词
仿生蟑螂机器人
灵活性
优化
雅克比矩阵
bionic cockroach robot
dexterity
optimization
Jacobian matrix
