摘要
为了验证六足蚂蚁仿生机器人的可行性,采用理论分析、数值模拟和实验研究相结合的方法对六足蚂蚁仿生机器人进行了研究。通过观察蚂蚁的组成结构和运动形态,对六足蚂蚁仿生机器人的结构和步态进行设计。使用ADAMS软件对设计模型进行了动力学仿真分析,得到了质心位移曲线、质心速度曲线、质心加速度曲线、足端接触力曲线及关节扭矩曲线,结果表明:机器人控制系统能有效的维持机器人的平衡,且在运动过程中保持稳定的状态,验证了模型结构设计及移动步态的合理性。对六足蚂蚁仿生机器人的样机进行测试,测试结果和仿真结果较为一致,验证了数值模拟方法的合理性。六足蚂蚁仿生机器人的设计可以为仿生类机器人的研发提供借鉴。
In order to verify the feasibility of the hexapod ant biomimetic robot,hexapod ant biomimetic robot is studied by theoretical analysis,numerical simulation and experimental research.The structure and gait of hexapod ant biomimetic robot are designed by observing the composition structure and movement morphology of ants.The dynamics simulation analysis of the design model was carried out by ADAMS software,and the center of mass displacement curve,center of mass velocity curve,center of mass acceleration curve,foot-end contact force curve,and joint torque curve were obtained,the results show that the robot control system can effectively maintain the balance of the robot,and maintain a stable state in the process of movement,which verified the reasonableness of the model′s structural design and moving gait.The prototype of the hexapod ant biomimetic robot is tested,and the test results are more consistent with the simulation results,which verifies the reasonableness of the numerical simulation method.The design of the hexapod ant biomimetic robot can provide a reference for the research and development of biomimetic class robots.
作者
张艳军
杨一坤
肖子翔
陈虎
ZHANG Yan-jun;YANG Yi-kun;XIAO Zi-xiang;CHEN Hu(Building and Surveying and Mapping Engineering College Shanxi Datong University,Shanxi Datong 037003,China;Mechanical and Electrical Engineering College Shanxi Datong University,Shanxi Datong 037003,China)
出处
《机械设计与制造》
北大核心
2024年第11期83-87,92,共6页
Machinery Design & Manufacture
基金
国家级大学生创新创业训练项目-智能仿生六足机器人的设计(202310120006)。
关键词
六足
蚂蚁
仿生机器人
动力学
仿真分析
Hexapod
Ant
Biomimetic Robot
Dynamics
Simulation Analysis
