| 单超声电机驱动两足行走机器人的设计分析研究 |
| |
| 引用本文： | 王健,孙志峻,郭语,黄卫清. 单超声电机驱动两足行走机器人的设计分析研究[J]. 传感器与微系统, 2010, 29(6) |
| |
| 作者姓名： | 王健 孙志峻 郭语 黄卫清 |
| |
| 作者单位： | 1. 南京航天航空大学,机电学院,江苏,南京,210016
2. 南京航天航空大学,精密驱动研究所,江苏,南京,210016 |
| |
| 基金项目： | 国家自然科学基金资助项目(50675098,50735002) |
| |
| 摘 要： | 鉴于超声电机低速大扭矩的优点,采用了单超声电机来驱动两足行走机器人,选用PRO/E对机构进行了结构设计,运用ADAMS对模型进行了仿真和运动学、动力学分析,对机器人的关键尺寸进行了优化设计。研究证明:该机构合理可行,为今后物理样机的制造提供了重要依据。
|
| 关 键 词： | 超声电机 机器人 两足 |
Study on design and analysis of two-legged walking robot driven by single ultrasonic motor |
| |
| WANG Jian,SUN Zhi-jun,GUO Yu,HUANG Wei-qing. Study on design and analysis of two-legged walking robot driven by single ultrasonic motor[J]. Transducer and Microsystem Technology, 2010, 29(6) |
| |
| Authors: | WANG Jian SUN Zhi-jun GUO Yu HUANG Wei-qing |
| |
| Affiliation: | WANG Jian1,SUN Zhi-jun1,GUO Yu1,HUANG Wei-qing2 (1.College of Mechanical , Electrical Engineering,Nanjing University of Aeronautics & Astronautics,Nanjing 210016,China,2.Precision Driving Laboratory,China) |
| |
| Abstract: | In view of the advantage of ultrasonic motor low-speed and large torque,single ultrasonic motor is adopted to drive a two-legged walking robot.PRO/E is selected for the structural design.Model simulation and kinematic & dynamics analysis are carried out on the model by ADAMS,and key sizes of the robot are optimized.Research proves that this machine is reasonable and feasible,which provides an important basis for the manufacture of physical prototype in the future. |
| |
| Keywords: | ultrasonic motor robot two-legged |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
