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为发挥履带可变形机器人最佳越障性能,保证机器人在变形过程中履带长度不变且持续张紧,将椭圆定理和椭圆规原理应用于机器人构型设计,研制了一种新式履带可变形机器人。通过引入后摆臂,丰富了机器人构型变化,机器人重心在前后摆臂转动过程中有较大程度的调节,提高机器人的越障性能。建立坡道、台阶和沟壑等典型障碍的数学模型,对机器人翻越障碍进行步态规划和运动机理分析;建立机器人越障的运动学和动力学模型,分析机器人越障的临界条件和最大数值,利用Adams对越障进行仿真实验,结果验证了理论计算值的准确性和机器人的越障性能。 相似文献
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针对履带不可变形机器人越障性能差的问题,对双摆臂履带可变形机器人的最佳越障性能以及机器人在越障过程中的稳定状态进行了研究。选取了两种具有代表性的障碍物类型,建立了其数学模型,将机器人的质心分布与转动惯量分布作为考虑因素,研究了机器人爬越坡道的倾覆稳定性、滑移稳定性与攀爬台阶的静态稳定性、分步动态稳定性,通过数值分析验证了计算结果的有效性与准确性,得到了机器人处于稳定状态的充分必要条件,进而得到了机器人翻越障碍的临界条件与能够翻越的最大数值。研究结果表明:双摆臂履带可变形机器人具有良好的地形适应能力与越障能力,任务完成度和执行效率高,越障过程机器人状态稳定。 相似文献
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设计了一种可越障多足机器人,该机器人具有移动速度快,越障能力强等特点.腿部机构设计是影响多足机器人运动特性的重要因素之一,采用曲柄摇块机构原理设计了一种新型的多足机器人腿部机构.为了保证机器人移动过程中重心不发生变化,运用Matlab软件对踏片的踏面曲线进行设计,并分析了腿部机构不同尺寸参数对踏面曲线、单个踏片与地面接触点水平方向运动速度和加速度的影响规律.同时,设计了多足机器人的辅助爬升机构,并分析了多足机器人翻越障碍物的工作流程.最后,通过虚拟样机运动仿真以及实物样机试验验证了可越障多足机器人机构设计的可行性. 相似文献
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为解决人工维护风电机施工难度高、效率低、劳动强度大等问题,基于爬壁机器人研究现状,提出了轮足式4吸盘风电机爬壁机器人的机械本体结构方案。采用Creo软件对机器人的前后吸盘、三腔星轮式吸盘及前后叉架等进行机械结构设计,借助CAD软件对机器人翻越内直角时各种运动姿态进行分析;建立数学模型,通过MATLAB软件对计算结果进行仿真分析,得出防止机器人滑落的最小安全吸附力;运用ADAMS软件对爬壁机器人虚拟模型进行运动学分析,同时应用爬壁机器人样机进行运动试验予以验证。结果表明:爬壁机器人能够在最小安全吸附力条件下,完成机器人单一曲面越障及翻越内直角时越障的运动要求,从而得出轮足式4吸盘风电机爬壁机器人设计方案可行,为后续研究提供有益参考借鉴。 相似文献
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Phuc Thinh Doan Hoang Duy Vo Hak Kyeong Kim Sang Bong Kim 《International Journal of Precision Engineering and Manufacturing》2010,11(4):559-568
This paper proposes the design and development results of a new quadruped robot. The proposed new quadruped robot has a couple
of advantages of flexible locomotion. The quadruped robot is designed and modeled based on a new concept that is the structure
model with three segments of quadruped legs. New leg configuration with the simplified operation of four hip actuators is
introduced. The posture of the new quadruped robot is more similar to the posture of dog than that of the previous quadruped
robots. The objective of this paper is to develop a quadruped robot, which can walk and run in a trot gait with a simple PID
controller. Numerical simulation and experimental results are shown to prove the locomotion performance of the proposed controller
for the proposed quadruped robot. 相似文献
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Chen XuedongSchool of Mechanical Scienceand Engineering Huazhong University of Scienceand Technology Wuhan China 《机械工程学报(英文版)》2003,16(2):120-122
By defining the static stable area for foot placement, a new approach to analysis of quadruped robot stability is presented. Unlike conventionally, the method avoids solving complicated direct kinematics of quadruped robot and shows the information on the robot stability and the selection of swing leg. Especially, the proposed algorithm can be used as real-time operation for on-line gait generation and control for quadruped robots. The effectiveness of the proposed approach is shown through a practical crawling experiment of the quadruped robot TITAN-VIII. 相似文献
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Xu Kang Wang Shoukun Yue Binkai Wang Junzheng Guo Fei Chen Zhihua 《Journal of Mechanical Science and Technology》2020,34(1):377-386
Journal of Mechanical Science and Technology - High obstacle-negotiation performance of quadruped robots for the challenging terrain is strongly demanded in some fields, including payload delivery... 相似文献
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Kinematics and dynamics analysis of a quadruped walking robot with parallel leg mechanism 总被引:1,自引:0,他引:1
It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,etc.However,the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple function.Therefore,Improvement of enhancing capacity and functions of the walking robot is an important research issue.According to walking requirements and combining modularization and reconfigurable ideas,a quadruped/biped reconfigurable walking robot with parallel leg mechanism is proposed.The proposed robot can be used for both a biped and a quadruped walking robot.The kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are optimized.The results show that performance of the walking robot is optimal when the circumradius R,r of the upper and lower platform of leg mechanism are 161.7 mm,57.7 mm,respectively.Based on the optimal results,the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory,and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed,which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk process.Besides laying a theoretical foundation for development of the prototype,the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism. 相似文献
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为了实现液压作动的四足步行机器人的稳定行走,根据运动稳定裕量原则规划四足机器人的直行步态,保证三足支撑机体时稳定裕量为100 mm;针对液压缸运动加速度突变导致机体冲击振动的问题,提出了利用S型曲线作为各自由度的运动位移控制规律的方法。按照JQRI00型四足步行机器人原理样机的结构建立了虚拟样机模型,应用仿真软件对所设计步态进行了仿真,分析了步态的运动学、动力学特征和位移控制方法的运动特征;在四足步行机器人原理样机上进行了试验,并将试验与仿真结果进行了比较。研究结果表明,所设计的机器人步态可行,保证了机器人具有较好的行走稳定性;将S型曲线用于位移控制,消除了液压缸运动加速度的突变,进一步提高了机体运行的平稳性。 相似文献