摘要
为提高六足机器人对楼梯障碍物的适应能力,设计一种半圆形腿式的六足机器人。根据机器人的结构特点,规划了六足机器人爬楼梯中的四足步态。基于机器人柔性体半圆形腿的结构特点,采用ANSYS软件和ADAMS软件对其进行了联合仿真,建立半圆形腿的柔性体模型,对其进行运动仿真并进行了应力应变和模态分析。仿真结果表明:六足机器人结构设计合理,验证了柔性体半圆形腿选材和电机选型的正确性,为进一步进行机器人系统结构与误差的分析奠定了基础。
In order to improve the adaptability of the six-legged robot to the stair obstacle,a six-legged robot with semicircle legs was designed.According to the structure characteristics of the robot,six foot robots were planned to climb the four-legged gait. Based on robot flexible body semicircle legs structure characteristics,using ANSYS software and ADAMS software, the flexible body of semicircle leg model was built, the motion simulation and analysis of stress and strain and the modal were taken.The simulation results show that the six-legged robot structure design is reasonable,the correctness of flexible body semicircle leg material and the motor selection are verified, which laid a foundation for the analysis of the robot system structure and the error.
作者
曹雏清
熊一帆
Cao Chuqing;Xiong Yifan(Anhui Polytechnic University,Wuhu 241000,Anhui,China;HIT Wuhu Robot Technology Research Institute Co.,Ltd.,Wuhu 241007,Anhui,China;Shanghai Aerospace Electronic Technology Institute,Shanghai 201109,China)
出处
《现代制造工程》
CSCD
北大核心
2019年第10期40-44,共5页
Modern Manufacturing Engineering
基金
国家自然科学基金项目(61503186)
机器人技术与系统国家重点实验室开放基金项目(SKLRS2016KF09)
关键词
六足机器人
四足步态
仿真
应力应变
模态分析
six-legged robot
four-legged gait
simulation
stress strain
modal analysis
