| 足板驱动两栖机器人陆地运动研究 |
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| 引用本文： | 马秀云,俞建成,张竺英.足板驱动两栖机器人陆地运动研究[J].机械设计与制造,2010(3). |
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| 作者姓名： | 马秀云 俞建成 张竺英 |
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| 作者单位： | 1. 中科院沈阳自动化研究所,机器人学国家重点实验室,沈阳,110016;中国科学院,研究生院,北京,100049
2. 中科院沈阳自动化研究所,机器人学国家重点实验室,沈阳,110016 |
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| 基金项目： | 863计划项目(2006AA04Z232);;国家自然科学基金项目(60605029) |
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| 摘 要： | 对足板驱动两栖机器人陆地运动进行研究,在分析足板驱动两栖机器人的运动学和动力学基础上,采用虚拟样机技术建立了考虑足板与地面接触的仿真模型。通过仿真研究了机器人做匀速运动时地面对足板的冲击以及电机驱动力矩的变化情况,从而指导电机选型和机械结构设计,同时为分析机器人系统的动态特性提供了依据。
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| 关 键 词： | 两栖机器人 足板 碰撞模型 仿真 |
Research about walking on land for paddles driving amphibious robot |
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| MA Xiu-yun,YU Jian-cheng,ZHANG Zhu-ying.Research about walking on land for paddles driving amphibious robot[J].Machinery Design & Manufacture,2010(3). |
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| Authors: | MA Xiu-yun YU Jian-cheng ZHANG Zhu-ying |
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| Affiliation: | 1State Key Laboratory of Robotics/a>;Shenyang Institute of Automation the Chinese Academy of Science/a>;Shenyang 110016/a>;China;2Graduate School of the Chinese Academy of Sciences/a>;Beijing 100049/a>;China |
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| Abstract: | Based on the analysis of kinematics and dynamics of paddles driving amphibious robot the simulation model considering contact between paddles and ground was established. Through simulation,the change of impact course of ground to paddles and drive torque of motor were studied when its speed equal. Which could help to choose the suitable motors,design the mechanical structure and offer the gist for researching the dynamic performance further. |
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| Keywords: | Amphibious robot Paddle Impact mode Simulation |
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