阮鹏, 俞志伟, 张昊, 张晓峰, 戴振东. 基于ADAMS的仿壁虎机器人步态规划及仿真[J]. 机器人, 2010, 32(4): 499-504,509.
引用本文: 阮鹏, 俞志伟, 张昊, 张晓峰, 戴振东. 基于ADAMS的仿壁虎机器人步态规划及仿真[J]. 机器人, 2010, 32(4): 499-504,509.
RUAN Peng, YU Zhiwei, ZHANG Hao, ZHANG Xiaofeng, DAI Zhendong. Gait Planning and Simulation of Gecko Inspired Robot Based on ADAMS[J]. ROBOT, 2010, 32(4): 499-504,509.
Citation: RUAN Peng, YU Zhiwei, ZHANG Hao, ZHANG Xiaofeng, DAI Zhendong. Gait Planning and Simulation of Gecko Inspired Robot Based on ADAMS[J]. ROBOT, 2010, 32(4): 499-504,509.

基于ADAMS的仿壁虎机器人步态规划及仿真

Gait Planning and Simulation of Gecko Inspired Robot Based on ADAMS

  • 摘要: 分析了一种仿壁虎机器人的机械结构及其运动学原理,通过对壁虎运动行为的研究,规划了一种仿壁虎的墙面爬行对角步态.利用ADAMS对机器人沿垂直壁面爬行的运动进行了仿真,分析了模型质心位移、关节转矩以及足部与壁面之间的接触力等参数.最后通过实验分析,验证了结构设计、步态规划的合理性,所选择的电机符合设计要求.

     

    Abstract: A gecko inspired robot's mechanical structure and kinematics principle are analyzed.Through studying the gecko's behavior,a kind of gecko inspired wall-crawling diagonal gait is designed.The climbing behavior of the gecko inspired robot along the vertical wall is simulated using ADAMS.The displacement of the robot's center of mass,the torque of joints,the contact force between the feet and wall,and other parameters are analyzed.The experimental study indicates that the gait planning and structure design are reasonable,and the selected electric motors comply with the design requirements.

     

/

返回文章
返回