| 6足步行机的控制系统设计及运动仿真 |
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| 引用本文： | 张桓,廖启征,魏世民. 6足步行机的控制系统设计及运动仿真[J]. 机电产品开发与创新, 2009, 22(5): 9-10,28. DOI: 10.3969/j.issn.1002-6673.2009.05.004 |
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| 作者姓名： | 张桓 廖启征 魏世民 |
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| 作者单位： | 北京邮电大学,自动化学院,北京,100876;北京邮电大学,自动化学院,北京,100876;北京邮电大学,自动化学院,北京,100876 |
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| 摘 要： | 针对一种空间闭链RSTR机构六足步行机,通过机构运动分析,合理规划其运动轨迹;成功搭建控制系统,实现了步行机行走、遇障碍自动停止的功能;利用ADAMS进行运动学仿真分析,得出结论：六足步行机基本能维持静态稳定步行,整个步行机行走过程中实现了其连续运动,且行走轨迹基本为直线,并能保持一个较高的静态稳定移动速度。
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| 关 键 词： | 步行机 控制系统 运动学 仿真 |
Design of the Control System and the Kinematics Simulation for the Six-legged Walking Robot |
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| ZHANG Huan,LIAO Qi-Zheng,WEI Shi-Min. Design of the Control System and the Kinematics Simulation for the Six-legged Walking Robot[J]. Development & Innovation of Machinery & Electrical Products, 2009, 22(5): 9-10,28. DOI: 10.3969/j.issn.1002-6673.2009.05.004 |
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| Authors: | ZHANG Huan LIAO Qi-Zheng WEI Shi-Min |
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| Affiliation: | (School of Automation ,Beijing University of Posts and Telecommunications, Beijing, 100876, China) |
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| Abstract: | According to the analysis of the body＇s movement, the tract of the six-legged walking robot with a type of spatial closed chains of RSTR is planned rationally. The control system is built up successfully; the walking and the obstacle avoiding function are achieved. The t kinematic simulation is been done based on ADMA. The conclusion is got as follows： the six-legged walking robot can keep walking steadily; the continuous movement for the robot is through the whole walking process; the tract is basically a beeline; and the speed in the steady instance is much faster. |
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| Keywords: | walking robot control system kinematics simulation |
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