摘要
设计用于仿人机器人的四连杆封闭链膝关节。以仿生膝关节研发为实例,提出用虚拟样机协同仿真进行系统仿真。研究用Pro/E,ADAMS和Simulink相联合的组织内部协同仿真方法。建立了四连杆仿生膝关节和机器人腿虚拟样机,并详细给出异构层次化模型协作方法和迭代学习控制协同仿真方法,进行了仿真实验。虚拟样机协同仿真方法面向多领域,可避免复杂的人工建模和求解过程,仿真逼真且接近实际系统,为四连杆仿生膝关节提供好的研究方法。
The polycentric closed-chain 4-bar joint controlled by rnagneto-rheo-logical （MR） damper was given and used as humanoid robot knee joint. To meet the requirements of bionic knee joint＇s development, the study method based on virtual prototype and collaborative simulation was proposed. Pro/E, ADAMS and MATLAB Simulink were integrated to be used as a united simulation platform for bionic knee joint＇s hybrid hierarchical modeling. Virtual prototype was built. Kinematics, dynamics and iterative learning control collaborative simulation methods were pointed and swing gait control simulation was done. Collaborative simulation can do multi-filed simulation, and avoids heavy works of manual modeling, and improves 4-bar bionic knee joint study.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2006年第6期1554-1557,共4页
Journal of System Simulation
基金
国家自然科学基金(60475036)
关键词
四连杆仿生膝关节
虚拟样机
协同仿真
迭代学习控制
4-bar bionic knee joint
virtual prototype
collaborative simulation
iterative learning control
