| 基于ADAMS的仿壁虎爬壁机器人的运动仿真 |
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| 引用本文： | 孙丽红,汪小华,梅涛,吕晓庆.基于ADAMS的仿壁虎爬壁机器人的运动仿真[J].计算机仿真,2007,24(9):133-136. |
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| 作者姓名： | 孙丽红 汪小华 梅涛 吕晓庆 |
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| 作者单位： | 中国科学院合肥智能机械研究所,安徽,合肥,230031;中国科学技术大学,安徽,合肥,230026;中国科学院合肥智能机械研究所,安徽,合肥,230031 |
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| 摘 要： | 为实现在不同环境的壁面上自由爬行,设计了应用仿壁虎微纳米粘附阵列的爬壁机器人,建立了机器人的动力学模型及足部与壁面之间的接触模型,并利用机械系统动力学软件ADAMS的仿真功能,对机器人沿垂直壁面爬行的运动特性进行了仿真.利用ADAMS的后处理模块的分析功能,重点研究了在一个运动周期内,模型整体质心的位移、电机转矩以及足部与壁面之间的接触力随时间的变化情况.仿真结果表明该仿壁虎爬壁机器人能够以约26mm/s的速度沿着垂直的壁面平稳地运动,不存在波动和偏离.这为下一步研制仿壁虎爬壁机器人的物理样机提供了理论指导,也为其他仿生机器人的研究提供了参考.
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| 关 键 词： | 仿壁虎 爬壁机器人 仿真 粘附阵列 |
| 文章编号： | 1006-9348（2007）09-0133-04 |
| 修稿时间： | 2006-08-22 |
Simulation of Gecko Inspired Climbing Robot Based on ADAMS |
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| SUN Li-hong,WANG Xiao-hua,MEI Tao,LU Xiao-qing.Simulation of Gecko Inspired Climbing Robot Based on ADAMS[J].Computer Simulation,2007,24(9):133-136. |
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| Authors: | SUN Li-hong WANG Xiao-hua MEI Tao LU Xiao-qing |
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| Affiliation: | 1. Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei Anhui 230031, China; 2. University of Science and Technology of China, Hefei Anhui 230026, China |
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| Abstract: | In this paper a gecko inspired climbing robot using the micro/nano adhesion array was designed to adapt walls in different environment.The dynamics model and contact model between the feet and the walls were given out.The climbing behavior of the robot along the vertical walls was simulated using dynamics software ADAMS.The change of the displacement of centroid of the model,the torque of electromotor and the contact force between the feet and the walls with time in a period were emphatically analyzed.The result indicated that the robot could move along the vertical walls with a speed of about 26mm/s without fluctuation and deviation.It provided references for the future design of the gecko inspired climbing robot prototypes and the study of other kind of biological modeling robot. |
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| Keywords: | Gecko inspired Wall-climbing robot Simulation Adhesion array |
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