摘要
应用ADAMS软件对三段式橡胶履带摆腿复合行走机器人行走机构进行了虚拟样机建模,通过系统的运动学/动力学仿真与分析,选定了主驱动电机型号,得出了机器人在各种工况下的最大加速度与速度,最后对机器人机械性能进行了评价。机器人整体结构分三段,左右共六段履带单元通过主双联轮、从双联轮和小轮连结起来,左、右主履带分别驱动,实现装置的灵活转弯,前摆腿单元向上折转可使装置顺利爬上台阶式障碍,后摆腿单元向下折转可使装置平稳地支撑,避免后翻。传感器支撑臂有两个自由度,在电机驱动下可以分别绕垂直轴和水平轴旋转,实现传感器在空间姿态调整。
It presents the establishment of Virtual Prototype model of the robot which could walk by swing leg with a three- section rubber pedrail through ADAMS.Simulation and analysis on kinematics and dynamic performance of the model that has been carried orSelected types of the main drive motor, and deduced acceleration and velocity of the robot on all conditions, and at the last, the robot mechanical properties were evaluated.Robot overall structure is divided into three section, and from double wheel and little wheel connect together around six section of the crawler unit, through the main duplex, from left and right main crawler drives respectively, to achieve flexible turning device, and front leg unit turns up which can make the device successfully climb to the top of terraced obstacle, and swing leg unit after folding turn can make plant down smoothly, avoiding tip-back. Sensor bracket has two degrees of freedom, and the motor can rotate around the vertical axis and the horizontal axis respectively, achieving space attitude adjustment of sensor.
出处
《机械设计与制造》
北大核心
2013年第9期213-216,共4页
Machinery Design & Manufacture
基金
山西省科技攻关项目(20080321009)
