摘要
针对四足机器人运动过程存在稳定性问题,基于SolidWorks设计了一种单腿三自由度的四足机器人。根据仿生原理设定四足机器人的基本参数,由四足机器人各关节的运动特点选定合适的驱动方式。运用D-H参数法建立机器人的运动模型,推导运动学方程,随后通过ADAMS创建机器人的虚拟模型,以关节角度变化数据作为驱动,对四足机器人进行对角小跑步态动力学仿真,得到单腿运动学参数的变化曲线,为驱动原件的选型提供了依据。
Aiming at the stability problem of quadrupedal robot motion process,a single-legged three-degree-of-freedom quadrupedal robot is designed based on SolidWorks.The basic parameters of the quadrupedal robot are set according to the principle of bionics,and the appropriate drive mode is selected from the motion characteristics of each joint of the quadrupedal robot.Using the D-H parametric method to establish the motion model of the robot and derive the kinematic equations,and then creating a virtual model of the robot through ADAMS,using the joint angle change data as the drive,the quadrupedal robot is simulated with diagonal trotting gait dynamics,and the change curves of the single-leg kinematic parameters are obtained,which provide a basis for the selection of drive components.It provides a basis for the selection of the driving original.
作者
罗耀
李宪华
姚玉龙
贾小宇
徐玉杰
LUO Yao;LI Xianhua;YAO Yulong;JIA Xiaoyu;XU Yujie(School of Mechanical and Electrical Engineering,Anhui University of Science and Technology,Huainan Anhui 232001,China)
出处
《佳木斯大学学报（自然科学版）》
CAS
2024年第4期73-77,共5页
Journal of Jiamusi University：Natural Science Edition
基金
安徽省重点研究与开发计划项目(2022i01020015)。
关键词
四足机器人
结构设计
运动学
动力学仿真
quadrupedal robot
structural design
kinematics
dynamics simulation
