| 仿王蜥机器人驱动机构设计及动力学仿真 |
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| 引用本文： | 李冰,徐林森,汪小华,于树林,赵江海. 仿王蜥机器人驱动机构设计及动力学仿真[J]. 机械设计, 2011, 0(9) |
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| 作者姓名： | 李冰 徐林森 汪小华 于树林 赵江海 |
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| 作者单位： | 中国科学院合肥智能机械研究所安徽省仿生感知与先进机器人技术重点实验室;中国科学技术大学;常州先进制造技术研究所; |
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| 基金项目： | 国家自然科学基金资助项目(50905175) |
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| 摘 要： | 设计一种基于平面连杆机构的仿王蜥水上行走运动机理的机器人驱动结构。对该结构进行自由度分析及轨迹计算。通过计算在不同驱动速度和不同脚掌面积下,水对脚掌产生的作用力、支撑力和驱动力,验证设计的可行性。
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| 关 键 词： | 仿王蜥 驱动结构 轨迹 作用力 |
Driving mechanism design and dynamics simulation of basilisk Lizard robot |
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| LI Bing,,XU Lin-sen,WANG Xiao-hua,YU Shu-lin,ZHAO Jiang-hai. Driving mechanism design and dynamics simulation of basilisk Lizard robot[J]. Journal of Machine Design, 2011, 0(9) |
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| Authors: | LI Bing XU Lin-sen WANG Xiao-hua YU Shu-lin ZHAO Jiang-hai |
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| Affiliation: | LI Bing1,2,XU Lin-sen3,WANG Xiao-hua1,YU Shu-lin1,ZHAO Jiang-hai3(1.The Key Laboratory of Biomimetic Sensing and Advanced Robot Technology,Anhui Province Hefei Institute of Intelligent Machines,Chinese Acdemy of Sciences,Hefei 230031,China,2.University of Science and Technology of China,Hefei 230026,3.Institute of Advanced Manufacturing Technology,Changzhou 213164,China) |
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| Abstract: | A kind of robot driving structure based on planar linkage is designed,which emulates the basilisk Lizard'S ability to run on the surface of water.The degree of freedom analysis and path calculation for this structure was carried out.By computing the acting force,supporting force and driving force that water applied on the feet under different driving speeds and foot areas,the validity of the design was verified. |
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| Keywords: | basilisk Lizard drive structure path acting force |
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