仿生拱泥机器人运动过程计算机仿真研究

提出了利用计算机仿真技术研究仿生拱泥机器人运动规律的思想。以建立的仿生拱泥机器人运动数学模型为计算机仿真模型,对仿生拱泥机器人工作时的运动过程进行了计算机仿真研究。编制了大量仿真程序,获得了较好的仿真结果。通过运行相应的仿真程序,可以在计算机上直接观察到仿生拱泥机器人运动的全部过程,也可以观察到仿生拱泥机器人各部分工作的逼真情况。在此基础上,可以进行仿生拱泥机器人运动学、动力学仿真和仿生拱泥机器人虚拟样机的研究工作。同时,相应的研究工作也为改进基于蠕动原理仿生拱泥机器人试验样机的设计,并为设计基于蠕动原理仿生拱泥机器人工作用机和进行仿生拱泥机器人的应用分析奠定一定的理论基础。此外,这些工作也为研究其他仿生机器人提供了一定的条件。

STUDY ON COMPUTER SIMULATION OF MOVING PROCESS OF BIONIC MOVE-IN-MUD ROBOT

A new idea that the computer simulation technique is used to imitate moving process of move-in-mud bionic robot is presented. Using the general mathematical models of move-in-mud bionic robot moving as computer simulation models, simulation of moving process of move-in-mud bionic robot by means of computer is studied. A number of simulation programs are programmed and some better simulation results are gotten. Running the simulation programs, whole moving process and simulating working condition of every part of move-in-mud bionic robot can be observed. On the basis of above work, dynamics simulation and virtial machine of move-in-mud bionic robot based on creeping principle can be studied. Meanwhile, these works can be beneficial to the design improvement of both the model machine and the practical machine of move-in-mud bionic robot based on creeping principle, to the application analysis of the robot, and to the study of other kinds of biological modeling robots as well.