摘要
利用曲柄滑块机构传动性能和机构特性,设计了一种新型的适用于攀爬阶梯的机器人行走机构。简要介绍了阶梯攀爬机器人新式行走机构的结构和工作原理,通过建立行走机构数学模型,利用哈密尔顿原理建立了系统的动力学方程;运用机械系统动力学分析软件ADAMS对行走机构进行动态仿真分析,得到关键运动部件的运动规律曲线和动力学分析曲线;结果表明,该行走机构的设计方案具有可行性、合理性、可靠性、正确性和适用性。ADAMS对其复杂结构的仿真准确可靠,反映了各个构件间冲击和扰动产生的动力学响应,为行走机构减震降噪的优化设计提供了重要参数。
In this paper,transmission performance and institutional characteristics of slider-crank mechanism,designed a new ladder suitable for climbing robot walking mechanism. Introduced the structure and principle of the new ladder climbing robot walking mechanism,through the establishment of walking mechanism mathematical model,using Hamilton principle to establish a system of dynamic equations; the use of a mechanical system dynamics analysis software ADAMS to walking mechanism for dynamic simulation analysis,get the key moving parts of the movement of the curve and the curve dynamics analysis; results show that the design of the walking mechanism is feasibility,rationality,reliability,accuracy and applicability. ADAMS its accurate and reliable simulation of complex structures,reflecting the impact of dynamic response between each member and disturbance generated for the optimal design of running gear noise damping provides an important parameter.
出处
《机械设计与研究》
CSCD
北大核心
2016年第2期51-53,59,共4页
Machine Design And Research
基金
甘肃省兰州市科技局重点资助项目
