| 气压式仿人机器人的腰部设计与运动仿真 |
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| 引用本文： | 邱家浩,蒋刚.气压式仿人机器人的腰部设计与运动仿真[J].机械设计与制造,2012(5):57-59. |
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| 作者姓名： | 邱家浩 蒋刚 |
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| 作者单位： | 西南科技大学制造科学与工程学院,绵阳,621010 |
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| 基金项目： | 西南科技大学研究生创新基金，四川省教育厅科研基金 |
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| 摘 要： | 提出了一种新型的气压式仿人机器人腰部机构,它具有结构简单和运动稳定的特点。气压式仿人机器人腰部的运动受到手部、头部和腿部等关节力矩的影响。在对机器人进行简化之后,依据高效-欧拉算法,对该仿人机器人进行整体建模,导出腰部俯仰和侧转关节的动力学模型。从动力学上分析,机器人腰部手部和腿部的运动以及外力(矩)等的影响。在Pro/e3.0上建立仿人机器人腰部结构模型,然后导入ADAMS中进行动力学仿真研究,验证了该模型的正确性。
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| 关 键 词： | 仿人机器人 腰部 运动仿真 |
Waist design and motion simulation for pneumatic type humanoid robot |
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| QIU Jia-hao
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JIANG Gang.Waist design and motion simulation for pneumatic type humanoid robot[J].Machinery Design & Manufacture,2012(5):57-59. |
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| Authors: | QIU Jia-hao JIANG Gang |
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| Affiliation: | (School of Manufacturing Science and Engineering,Southwest University of Science and Technology,Mianyang 621010,China) |
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| Abstract: | It presents a new type of waist institutions of a pneumatic humanoid robot with simple structure and stable movement.The motion of pneumatic humanoid robot waist is affected by the torque of hand,head and legs joints.After Simplifying the robot,the modeling for overall humanoid robot is made based on efficient-Euler algorithm.Then,the dynamic model of pitching and tilt waist joint is derived.The impacts of the robot waist,hands and legs,as well as external forces(moments)on the kinetics is analyzed.After that,the waist structural of humanoid robot is modeled in Pro/e3.0,and then imported into the ADAMS for dynamic simulation,which results verify the correctness of the model. |
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| Keywords: | Humanoid robot Waist Motion simulation |
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