摘要
在对足行马机构建立好实体模型的基础上,利用ADAMS对其沿水平面行走的运动特性进行了仿真。利用ADAMS的后处理模块的分析功能,重点研究了模型腿部质心的位移、速度、加速度及腿部连接副受力情况的变化。仿真结果表明该机构沿着水平面平稳地运动,不存在波动和偏离。这为下一步研制奇异位形工作的物理样机提供了理论指导,也为其他仿生机器人的研究提供了参考。
On the basis of setting Solid Model for Foot-line Machine,using ADAMS simulates its movement character that is along horizontal level. Using the analysis function of ADAMS Post-processing module importantly researches Model leg＇s centroid displacement,Speed,Acceleration and Stress situation change of its Connection. Simulation result shows that the Machine moves reposefully along horizontal without any fluctuation and deviation. It provided references for the future design of the strange configurationally work prototypes and the study of other kind of biological modeling robot.
出处
《机械设计与制造》
北大核心
2009年第10期215-217,共3页
Machinery Design & Manufacture
关键词
足行马机构
ADAMS
仿真
仿生机器人
Foot-line machine
ADAMS
Simulation
Biological modeling robot
