期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

具有手脚融合功能的四足步行机器人抓取姿态下的运动仿真 被引量：1

Motion simulation of four-legged walking robots with hand-foot-integrated function under grasp configuration
原文传递
导出
摘要 介绍了一种具有手脚融合功能的四足步行机器人ZQROT-1的构型,然后对具有手脚融合功能摆动腿抓取姿态下的逆运动学问题进行了研究,对相关公式进行了推导,运用ADAMS软件进行了运动学与动力学仿真。文中着重对该机器人在抓取物块过程中的动力学特性进行了仿真分析,并进而分析了机器人失稳的情况。分析结果可以作为机器人优化结构、确定参数的依据。该方法与思路对解决同类问题有一定的参考意义。 A four-legged walking robot ZQROT-1 with hand-foot-integrated function is introduced in this paper first,then the inverse kinematic problem of the swing leg with hand-foot-integrated function is researched and the relevant formula is deduced,finally,kinematic and dynamic operation is simulated with ADAMS.The dynamics performance of ZQROT-1 in the process of capturing object is analyzed emphatically,and then the instability of the robot is researched.The analysis results can be used to optimize robot structure and determine its characteristic parameter.Methods of the paper can be referred to solve similar problem in some aspect.
作者 王新杰 张小辉 王良文 陈卫红 王传鹏
机构地区 郑州轻工业学院机电工程学院
出处 《机械设计》 CSCD 北大核心 2012年第12期34-38,共5页 Journal of Machine Design
基金 国家自然科学基金资助项目(50875246) 河南省高校科技创新团队支持计划资助项目(2012IRTSTHN013)
关键词 多足步行机器人 手脚融合 抓取姿态 动力学 ADAMS仿真 multi-legged walking robot hand-foot-integrated grasp configuration dynamics ADAMS simulation
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献7

二级参考文献32

  • 1汪劲松,张伯鹏.全方位双三足步行机器人（Ⅲ）──步行模式规划[J].清华大学学报（自然科学版）,1994,34(5):63-71. 被引量：3
  • 2王新杰,李培根,陈学东,陈宏娟.四足步行机器人动力学模型及脚力分配的研究[J].华中科技大学学报（自然科学版）,2005,33(12):12-15. 被引量：9
  • 3雷静桃,高峰,崔莹.多足步行机器人的研究现状及展望[J].机械设计,2006,23(9):1-3. 被引量：37
  • 4Chen Xuedong, Watanabe K, Kiguchi K,et al. Path tracking based on a closed-loop control for a quadruped robot in a cluttered environment[J]. ASME J of Dynamic Systems Measurement and Control, 2002, 124(2):272-280.
  • 5Wang Xinjie, Chen Xuedong, Li Peigen, et al. A study of analytical forward kinematics of multi-legged walking robot location[J]. Machine Intelligence and Robotic Control, 2004, 6(2): 29-37.
  • 6Wang Liangwen, Chen Xuedong, Huang Qingjiu. Error analysis of multi-legged walking robots based on forward kinematics[C]//Proceedings of IEEE ROBIO Sanya. Sanya: IEEE Press, 2007: 1168-1177.
  • 7Hirose S, Kato K, Yoneda K. Development of quad ruped robot with the mission of mine detection and re moval[C] // Proc 1996 Robotics Society of Japan. [s.n.], 1996: 305-306.
  • 8孙翊.模块化多足步行机器人机械系统研究[D].武汉:华中科技大学机械科学与工程学院,2008.
  • 9Wang Xinjie, Wang Liangwen, Pan Chunmei, et al. Inverse kinematics analysis of multi-legged walking robots based on hand-foot-integration mechanism [C]//Proceedings of the 2010 IEEE International Conference on Mechatronics and Automation. Xi' an.. IEEE, 2010: 1184-1189.
  • 10Wang Xinjie, Wang Liangwen, Tang Weigang, et al. Configuration and motion simulation of multilegged walking robots with hand-food-integrated mechanism Arm[J]. Applied mechanics and materials, 2011, 42:54-58.

共引文献31

同被引文献19

  • 1Wang L W, Chen X D, Wang X J, et al. Motion error com- pensation of multi-legged walking robots. Chinese Journal of Mechanical Engineering,2012,25(4) :639-645.
  • 2Jonas B, Jerry P, Nicholas R. Editorial:special issue on legged locomotion. International Journal of Robotics Re- search,2011,30(2) : 139-140.
  • 3Yang G L, Ho E, Lin W, et al. A differential geometry ap- proach for the workspaee analysis of spherical parallel ma- nipulator. In: Proceedings of the 11 th World Congress in Mechanism and Machine Science, Tianjin, China, 2004. 2060 -2065.
  • 4Yang G L, Lin W, Mustafa S K, et al. Numerical orienta- tion workspace analysis with different parameterization methods. In:Proceedings of the 2006 IEEE Conference on Robotics, Bangkok ,Thailand ,2006. art 4018833.
  • 5Boney I, Gosselin C. Analytical determination of the work- space of symmetrical spherical parallel mechanisms. IEEE Trans Robot ,2006,22 (5) :1011-1017.
  • 6Jiang Q, Gosselin C. Determination of the maximal singu- larity-free orientation workspace for the Cough-Stewart platform. Mech Mach Theory,2009,44(6) :1281-1293.
  • 7Chao C, Daniel J. Parameterization and evaluation of robot- ic orientation workspaee: a geometric treatment. IEEE Trans Robot ,2011,27 (4) :656-673.
  • 8Khiar N C, Philippe H, Etienne C. Mobile arm for disabled people assistance manipulability measure for redundancy solve. InteU Robot Syst,2006,47( 1 ) :33-54.
  • 9Abdel M, Karim Y, Ham J, et al. Interior and exterior boundaries to the workspace of mechanical manipulators. Robotics and Computer-lntergrated Manufacturing, 2000, 16(5) :365-376.
  • 10Hang E J, Wang J Y, Wu J K. Dextrous workspaces of ma- nip-ulators. Analytical Criteria Mech Struct, 1992,20 ( 3 ) : 321-361.

引证文献1

二级引证文献1

机械设计
2012年 第12期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部