摘要
针对不同重力环境下仿壁虎机器人的运动稳定性、运动高效协调性等问题,基于四足机器人的步态规划现状和仿壁虎机器人自身特定的机械结构,设计了仿壁虎机器人在g、0、-g 3种环境下的足端轨迹和运动步态。在ADAMS仿真软件中研究了机器人的运动学和动力学特性,得到了仿壁虎机器人稳定爬行与脚掌黏附力、足端轨迹和运动步态的关系。探讨了仿真结果的合理性和局限性,为仿壁虎机器人在实际环境中的稳定运动奠定了理论基础。
To improve the crawling stability,efficiency and compatibility of the gecko robot under different gravity environments,based on the status of quadruped robot gait plan and the mechanical structure of the gecko robot,this paper designs foot trajectory and gait for the gecko robot crawling under g,0 and-g gravity.Meanwhile,a physical model which is used to analyze kinematic and dynamic characteristics of the robot crawling is built in ADAMS,so the conditions between gecko robot stable crawling and foot adhesion,foot trajectory and gait are obtained.The paper discusses the rationality and limitations of the simulation results.The foundation is laid for the stable movement of the gecko robot in the actual environment.
作者
刘琦
戴振东
王炳诚
LIU Qi;DAI Zhendong;WANG Bingcheng(School of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《机械制造与自动化》
2020年第2期92-95,共4页
Machine Building & Automation
基金
国家自然科学基金重点项目(51435008)。
关键词
仿壁虎机器人
步态规划
足端轨迹
不同重力环境
gecko robot
gait planning
foot trajectory
different gravity environments
