| 小型双足步行机器人的机构设计及其运动仿真 |
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| 引用本文： | 郑文锋,许瑛,徐华,胡小平. 小型双足步行机器人的机构设计及其运动仿真[J]. 自动化信息, 2008, 0(12): 47-49 |
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| 作者姓名： | 郑文锋 许瑛 徐华 胡小平 |
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| 作者单位： | 南昌航空大学航空与机械工程学院,江西南昌330063 |
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| 摘 要： | 小型双足步行机器人具有多关节、多驱动器、多自由度的特点，本文以人体全身17个主要关节及其运动特性为研究对象，利用三维设计软件CATIA设计出小型双足步行机器人的全身机构，根据ZMP理论，以正常人行走的“X”形交叉动作为原则，规划出其各关节转角，在ADAMS下对其虚拟样机进行运动仿真，确保实现机器人的稳定步行和做舞蹈动作。
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| 关 键 词： | 小型双足步行机器人 ZMP理论 “X”型交叉动作 自由度 CATIA |
Mechanism Design and Its Motion Simulation of Mini Biped Robot |
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| ZHENG Wen-feng,XU Ying,XU Hua,HU Xiao-ping. Mechanism Design and Its Motion Simulation of Mini Biped Robot[J]. Automation Information, 2008, 0(12): 47-49 |
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| Authors: | ZHENG Wen-feng XU Ying XU Hua HU Xiao-ping |
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| Affiliation: | (School of Aviation and Mechanical Engineering, Nanchang Hangkang University, Nanchang 330063,China) |
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| Abstract: | The mini biped robot has some characteristics, such as multiple joints, multiple drivers and multi-degree of freedom. This paper is searching on the object of seventeen major joints of human body and its movement characteristics; the body framework of the mini biped robot is designed by using 3D design software CATIA. According to the ZMP theory and principles of X-shape cross action of normal person＇s saccin, the joints - turned angles of the robot are planed, the steady walking and the dancing move- ments of the mini biped robot are realized through the movement simulation of its virtual prototype in ADAMS. |
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| Keywords: | Mini Biped Walking Robot ZMP Theory X-shape Cross Action Degrees of Freedom（DOF） CATIA |
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