摘要
设计并研究了一种具有柔性多杆机构腰部和尾巴的仿壁虎机器人结构,通过对该机器人地壁过渡阶段研究,规划了一种仿壁虎机器人地壁过渡步态;并利用ADAMS对仿壁虎机器人进行了地壁过渡步态规划仿真;仿真结果表明:所设计的仿壁虎机器人结构是合理的,且地壁过渡步态规划方法是可行的。
The structure of gecko-like robot provided with flexible multi-link mechanism waist and tail was designed and researched. Through researching of the phase of transition from ground to wall of the gecko-like robot, its gait of ground to wall transition was planned. Moreover, the gait planning on the gecko robot was simulated by using ADAMS. The simulation results show that the structure of designed robot is reasonable, and the method of gait planning is feasible.
出处
《机床与液压》
北大核心
2013年第9期39-42,61,共5页
Machine Tool & Hydraulics
基金
西北工业大学创业种子基金资助项目(z2012045)
西北工业大学创新基金资助项目(2012006)
关键词
仿壁虎机器人
步态规划
地壁过渡
Gecko-like Robot
Gait planning
Ground to wall transition
