四足滑冰机器人直线运动规律研究

为研究四足滑冰机器人直线滑行运动时关节驱动参数对运动速度的影响,首先建立了机器人运动的物理模型,对运动原理进行了分析;然后采用将Matlab理论分析和ADAMS运动仿真相结合的方法,绘制了不同驱动参数和腿部关节运动协调参数下的速度曲线。最后,通过对比曲线,总结出了驱动参数和腿部关节协调参数对机器人运动速度的影响规律。研究结果表明,驱动参数和腿部关节协调参数的选择对机器人运动速度影响颇大。该研究为以后机器人的控制研究提供了依据。

Research on the straightforward motion of quadruped skating robot

In order to display the influence exerted on velocity of quadruped skating robot when skating straightforwardly by different joint driven parameters,a mathematical model was established firstly and the motion principle was given.Velocity curves were investigated under different driven and joint coordinate parameters,using the combined method of analyzing theoretically by Matlab and simulating by ADAMS.The law was concluded by contrasting those curves at last.The research results show that parameters above have an important effect on robot＇s velocity and the conclusions provide the basis for after controlling.