基于ADAMS和Pro/MECHANICA的四足步行机器人机身底板的优化设计  

Optimized Design of the Backplane of Quadruped Walking Robot Based on ADAMS and Pro/MECHANICA

作　　者：谭小群[1] 王润孝[1] 李军[1] 赵茜[1] 

机构地区：[1]西北工业大学机电学院,西安710072

出　　处：《组合机床与自动化加工技术》2008年第7期27-31,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国防基础科研资助项目(A2720060275)

摘　　要：文章根据四足步行机器人虚拟样机在ADAMS环境下行走的动力学仿真分析,利用在Pro/ENGI-NEER中己经建立的机器人三维实体模型,在Pro/MECHANICA下对该样机模型的零件机身底板进行了静态分析,通过灵敏度分析确定底板的重要设计参数。以质量最轻为目标函数,在满足工作状态强度的条件下,完成了底板结构的优化设计,实现了对该零件的轻量化设计。研究表明,ADAMS和Pro/ME-CHANICA的结合可以有效地提高优化设计的效率。According to the dynamics simulation analysis of quadruped walking robot in ADAM S and the 3D model in Pro/ENGINEER, the static analysis are studied under Pro/MECHANICA and sensitivity analysis are carried out to find the important design parameters. The structure optimal design of the backplane is researched to realize the Light weighted optimization on the basis of satisfying the requirements of intensity in Pro/MECHANICA. Study has proved that the way with the combination of ADAMS and Pro/MECHANICA can enhance efficiency of optimal design.

关 键 词：机器人 四足 PRO/MECHANICA ADAMS 优化设计 底板 

分 类 号：TG65[金属学及工艺—金属切削加工及机床]