摘要
基于仿生学,研制了一种具有弹性阻尼环节的步行腿机构并应用于四足仿生机器人中。介绍步行腿的总体设计方案;分析弹性阻尼环节的机械结构和工作原理并对其进行数学建模和动力学分析。以同侧步态为例,运用Pro/E分别对刚性腿和弹性腿进行了建模,并通过Adams对建立的模型进行了仿真分析。仿真结果表明该机构的应用能有效缓解四足仿生机器人在动态行走时地面对其产生的冲击。
Based on the bionics, a kind of walking leg mechanism with elastic damping element was designed and applied to bionic quadruped robot. The general design of walking leg mechanism is introduced. The mechanism and principle of the elastic damping element is analyzed while its mathematic modeling and dynamic Analyzing is executed. With pacing gait as an example, the rigid leg and the elastic leg are modeled by Pro/E, and their models are simulated and analyzed by Adams separately. The simulation results that the ground impact of a walking bionic quadruped robot can be effectively reduced by the application of mechanism with elastic damping element.
出处
《组合机床与自动化加工技术》
2008年第3期10-12,15,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国防基础科研资助项目(A2720060275)
关键词
机器人
四足
仿生
步行腿
弹性阻尼环节
ADAMS
robot
quadruped
bionics
walking leg mechanism
elastic damping element
Adams
