摘要
针对复杂环境对机器人的移动要求,提出了一种新型六足移动机器人的设计思想。设计了机器人的主要结构,对该机器人的设计进行阐述,并分析了其越障构态的变化特点。用静力学方法对机器人进行了越障理论分析,建立了六足机器人参数化模型,经ADAMS对机器人进行机构运动仿真,获得了机器人运动学特性曲线,为机器人总体系统设计与数值计算提供了参考依据。
According to the requirement of the motion of mobile robot in complex environment, the design thought of a new six-legged robot is made. The principal structure of the robot was designed and elaborated,and the change characteristics of the obstacle configuration was analyzed. A theoretical analysis of the robot obstacle navigation was presented by static method. The parametric models of the six-legged mobile robots and obstacles were built and the surmounting analysis of mobile robot was carried out, the dynamic characteristic curves of each body and whole body of the robot are eventually acquired, which provide theoretical foundation for design and numerical computation of the robot structure.
出处
《机械工程师》
2014年第5期92-94,共3页
Mechanical Engineer
关键词
腿式机构
越障
性能分析
ADAMS
leg structure
obstacle crossing
performance analysis
ADAMS
