蜘蛛机器人的结构设计与运动步态仿真分析
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摘要
依据多足昆虫的身体结构和运动特性,设计出蜘蛛机器人的本体结构。遵循结构仿生和功能仿生原则,基于虚拟样机技术,应用SolidWorks软件建立蜘蛛机器人的仿真模型,并结合ADAMS对蜘蛛机器人的直线行走步态和定点转弯步态进行联合仿真,得出其运动步态控制舵机的运动角度,进而验证结构设计的合理性和运动步态的稳定性。所做研究为蜘蛛机器人的实物制作提供了理论基础。
According to the body structure and motion state of the multi-footed insects, the body structure of the spider robot was designed. Following the principle of structural bionics and functional bionics, based on virtual prototyping technology, the simulation model of spider robot was established by using SolidWorks software, and the parallel gait and fixed-point turning gait of the spider robot were jointly simulated in combination with Simulink software to work out the motion angle of the steering gear that controlled the motion gait for further verification of the rationality of the structural design and the stability of the motion gait. The study provides a theoretical basis for the physical production of spider robot.
According to the body structure and motion state of the multi-footed insects, the body structure of the spider robot was designed. Following the principle of structural bionics and functional bionics, based on virtual prototyping technology, the simulation model of spider robot was established by using SolidWorks software, and the parallel gait and fixed-point turning gait of the spider robot were jointly simulated in combination with Simulink software to work out the motion angle of the steering gear that controlled the motion gait for further verification of the rationality of the structural design and the stability of the motion gait. The study provides a theoretical basis for the physical production of spider robot.
引文
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[3]才国锋,张赫,陈杰,等.仿生六足机器人单腿控制系统[J].哈尔滨商业大学学报(自然科学版),2016,32(3):267-270.
[4]陈刚,金波,陈鹰.六足步行机器人定半径转弯步态[J].浙江大学学报(工学版),2014,48(7):1278-1286.
[5]苏军.多足步行机器人步态规划及控制的研究[D].武汉:华中科技大学,2004.
[6]徐坤,丁希仑,李可佳.圆周对称分布六腿机器人三种典型行走步态步长及稳定性分析[J].机器人,2012,34(2):231-241,256.
[7]李超.仿生液压四足机器人步态生成器的设计与研究[D].北京:北京理工大学,2015.
[8]尹志朋,侯宇,代陈超,等.少驱动六足机器人结构设计与轨迹优化[J].机械传动,2016(9):91-94.
[9]张金柱,金振林,陈广广.六足步行机器人腿部机构运动学分析[J].农业工程学报,2016,32(9):45-52.
[10]边桂彬.BigDog技术分析与展望[J].机器人技术与应用,2012(1):11-13.
[11]叶蓓,郭子昂,赵振平,等.六自由度并联机器人动力学仿真与位置误差分析[J].机械制造,2018,56(6):38-40.
[12]申景金.一种新型六足仿生虫的结构设计与动力学分析[D].南京:南京航空航天大学.2008.