摘要
利用Pro/E设计了四足机器人简化模型,应用ADAMS对4种常见关节形式的模型进行了仿真对比,找出内膝肘式是四足机器人trot行走最稳定的一种模型。并对内膝肘式四足机器人模型进行了运动学仿真,为详细的结构设计和控制提供了方便。
In this paper, a simplified model of quadruped robot was designed by using Pro/E, four kinds of common joint models were simulated and compared by using ADAMS, the model with el- bow joint in front legs and knee joint in back legs was the most stable model in trot moving. Kinematics simulation was done for the model of quadruped robot with elbow joint in front legs and knee joint in back legs, it is convenient for detailed structure design and control
出处
《机械设计》
CSCD
北大核心
2012年第7期34-37,42,共5页
Journal of Machine Design
