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具有弹性阻尼环节的四足仿生机器人步行腿研究 总被引:1,自引:0,他引:1
基于仿生学,研制了一种具有弹性阻尼环节的步行腿机构并应用于四足仿生机器人中。介绍步行腿的总体设计方案;分析弹性阻尼环节的机械结构和工作原理并对其进行数学建模和动力学分析。以同侧步态为例,运用Pro/E分别对刚性腿和弹性腿进行了建模,并通过Adams对建立的模型进行了仿真分析。仿真结果表明该机构的应用能有效缓解四足仿生机器人在动态行走时地面对其产生的冲击。 相似文献
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六足步行机器人腿机构绳传动系统设计与仿真 总被引:1,自引:0,他引:1
针对典型步行机器人腿机构绳传动系统的缺点,设计了一种简单、小巧、实用的新型绳传动系统,并将其应用到六足步行机器人腿机构上,由此完成了六足绳传动步行机器人整机的设计.运用ADAMS软件建立了虚拟样机,并选择典型的三角步态进行整机运动仿真,仿真结果表明所设计的步行机器人虚拟样机可按给定步态进行直线行走和转弯.在此基础上,制作了真实样机.经测试,机器人行走时机体稳定,且速度较快.为进一步研究六足绳传动步行机器人奠定了基础. 相似文献
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利用Matlab/SimMechanics机构仿真工具建立了仿人机器人机构的仿真模型,并由模型图直观地观察仿人机器人的动态步行过程,求出了机器人躯体重心的角加速度和髋关节的扭矩变化图。建立了仿人机器人的瞬时状态的平面五杆机构运动模型,根据Kane法求解出了机构的动力学方程。在机构分析中应用SimMechanics仿真工具,为机械系统的仿真提供一种十分简便的方法。 相似文献
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仿人型机器人具有较强的环境适应能力.为了提高机器人的灵活性及稳定性,文章采用球面三自由度并联机构作为腰关节,并对该关节结构进行了改进,设计了一种新型的仿人型机器人,并利用ADAMS软件对其进行了仿真验证.结果表明,机器人能够进行完整的步态行走,腰部并联机构采用3-RRR+S’-p机构,能够实现机器人腰部的灵活运动,具有较好的稳定性和刚性. 相似文献
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为帮助下肢瘫痪人群恢复行走功能,设计出一款下肢外骨骼机器人。依据人体运动机制对各个关节的自由度进行了设计,确定了主动关节和被动关节类型并选用合适的驱动方式,详细介绍了主要部位的结构设计。论述了机器人的工作机制以及工作方式。建立下肢外骨骼机器人的连杆模型,规划出关节运动轨迹并求解出各个关节旋转运动曲线。利用ADAMS仿真软件将所规划的步态曲线进行仿真分析,仿真结果表明:各个关节运动曲线柔顺平滑,无明显冲击。在一个周期内,与理论计算值相比,各个关节的角度仿真值误差均小于±1.5°,在合理误差范围之内。利用COG理论验证步态轨迹的动态稳定性,证明了所规划的步态曲线的合理性。 相似文献
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Welding deformation and residual stress have negative influence on assembly accuracy and service performance. Thermal elastic plastic (TEP) and inherent strain finite element analysis (FEA) methods were used to study this challenge. Basic principle of these two methods was first introduced. The influence of welding process, constraints, solid phase transformation and multi-pass welding on deformation and residual stress was discussed, and computation accuracy and efficiency were summarised. Loading method of inherent strain in inherent strain FEA was analysed, interface element was introduced to simulate effects of the gap on deformation in assembly welding especially for large structures. The future work, including accurately multiscale TEP model, efficiently transient prediction method of large structures, and flexible evaluation software, was planned. 相似文献
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四足机器人的运动具有较强的耦合性,任何一个关节出现故障都可能使机器人运动紊乱,从而导致严重的后果。为解决此问题,提出一种适用于关节锁定故障的容错性步态规划方法。通过四足机器人的浮动机体运动学模型,在锁定关节处建立冗余度方程;利用增广雅可比矩阵完成含有优化函数的冗余度方程求解,从而实现容错性步态规划。通过仿真分析和样机试验对所提方法的可行性和有效性进行了验证。结果表明,与现有方法相比,容错性步态规划方法能够有效地提高容错性步态的效率。 相似文献
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This study focuses on the opening mode of induction bends; this mode represents the deformation outside a bend. Bending experiments on induction bends are shown and the manner of failure of these bends was investigated. Ruptures occur at the intrados of the bends, which undergo tensile stress, and accompany the local reduction in wall thickness, i.e. necking that indicates strain localization. By implementing finite element analysis (FEA), it was shown that the rupture is dominated not by the fracture criterion of material but by the initiation of strain localization that is a deformation characteristic of the material. These ruptures are due to the rapid increase in local strain after the initiation of strain localization and suddenly reach the fracture criterion. For the evaluation of the deformability of the bends, a method based on FEA that can predict the displacement at the rupture is proposed. We show that the yield surface shape and the true stress–strain relationship after uniform elongation have to be defined on the basis of the actual properties of the bend material. The von Mises yield criterion, which is commonly used in cases of elastic–plastic FEA, could not predict the rupture and overestimated the deformability. In contrast, a yield surface obtained by performing tensile tests on a biaxial specimen could predict the rupture. The prediction of the rupture was accomplished by an inverse calibration method that determined the true stress–strain relationship after uniform elongation. 相似文献
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颗粒团聚对Al基SiC颗粒增强复合材料的流变形为影响 总被引:2,自引:0,他引:2
基于微观组织的有限元分析模型,研究颗粒团聚对Al基SiC颗粒增强金属基复合材料流变行为的影响。通过建立的3种增强颗粒分布的胞元模型(一个团聚现象、两个团聚现象和随机分布),分析讨论基体和增强颗粒中的等效应力和等效应变的分布规律,以此为基础,获得3种颗粒分布模型下的SiC颗粒增强Al基复合材料的应力应变曲线。结果表明:颗粒增强金属基复合材料的流变行为和力学响应与增强颗粒的分布非常敏感,但在弹性变形阶段这种影响就相对较弱。从增强颗粒的最大主应力分布来看,颗粒团聚增加了SiC颗粒开裂的概率。从基体的静水应力分布来看,颗粒团聚将促进早期的界面脱粘和在韧性基体中形成微空洞。 相似文献
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Machining-fixture supports are used to increase workpiece rigidity. A critical problem of machining-fixture design is where to place a fixed number of supports in order to minimize workpiece deformation during machining. This paper presents the Fast Support Layout Optimization (FSLO) model. The objective of the FSLO model is to determine support locations that will minimize the maximum displacement-to-tolerance ratio of a set of workpiece features subject to a system of machining loads.The FSLO model utilizes a Finite Element Analysis (FEA) model to characterize workpiece stiffness. Solution of the FSLO model improves an existing support layout by systematically altering the boundary conditions applied to the FEA model. The FSLO model is unique in that its solution time is both very small and insensitive to the size of the FEA model, the sizes of machined features considered, and the sizes of the candidate regions of the supports. In addition to describing the formulation of the FSLO model, this paper describes a set of experiments that were used for its verification. 相似文献
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板料弯曲减薄系数的计算 总被引:4,自引:1,他引:3
通过对板料弹塑性弯曲变形分析,利用材料力学中的平面曲杆理论,提出了大曲率弹性变形应变中性层向内移动的观点,并推导出了板弯弯曲减薄系数的计算公式。 相似文献