| 基于虚拟样机技术的4足机器人机构设计 |
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| 引用本文： | 马明,王建中,盛沙.基于虚拟样机技术的4足机器人机构设计[J].机械设计,2012,29(3):25-28. |
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| 作者姓名： | 马明 王建中 盛沙 |
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| 作者单位： | 北京理工大学爆炸科学与技术国家重点实验室,北京,100081 |
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| 基金项目： | 北京理工大学国家重点实验室自主研究课题资助项目(QNKT10-03) |
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| 摘 要： | 为了研制适应各种路况、并能负荷更大负重的足式机器人,设计了一种以液压驱动的四足机器人机构,确定了机构设计和液压系统的关键参数,其中腿机构设计是关键部分。通过建立数学公式分析了机器人各关节运动所输出的力及力矩,并采用虚拟样机技术对液压驱动4足机器人进行建模和行走仿真,通过测量仿真机器人各关节力及力矩等数据,验证了机构设计参数选取的合理性及所选择的液压系统满足设计要求。
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| 关 键 词： | 四足机器人 腿机构设计 虚拟样机 |
Mechanism design of quadruped robot based on virtual prototyping technology |
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| MA Ming
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WANG Jian-zhong
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SHENG Sha.Mechanism design of quadruped robot based on virtual prototyping technology[J].Journal of Machine Design,2012,29(3):25-28. |
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| Authors: | MA Ming WANG Jian-zhong SHENG Sha |
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| Affiliation: | (State Key Laboratory of Explosion Science and Technology,Beijing Institute of Technology,Beijing 100081,China) |
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| Abstract: | In order to develop a kind of legged robot that can adapt various terrains and bear heavier loads,the quadruped robot with hydraulic actuated is designed in this paper,the key design of which is the leg mechanism design.The key parameters of the mechanism design and hydraulic system are determined.Through establishing mathematical formulas,the outputs of force and torque that are generated in robot’s joints are analyzed.The hydraulic-actuated quadruped robot is modeled and its walking is simulated by using virtual prototyping technology.By measuring the data in simulation,such as joints′ force and torque,this paper indicates that the selection of the mechanism design parameters is reasonable and the selected hydraulic system meets the design requirements. |
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| Keywords: | quadruped robot leg mechanism design virtual prototyping |
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