一种移动机器人机构的建模和仿真研究  

Research on model and simulation for mobile robot mechanism

作　　者：李荣华[1,2] 褚金奎[1,2] 李庆瀛[1,2] 王洪青[1,2] 

机构地区：[1]大连理工大学精密与特种加工教育部重点实验室,辽宁大连116023 [2]辽宁省微纳米技术及系统重点实验室,辽宁大连116023

出　　处：《计算机工程与应用》2008年第28期208-210,共3页Computer Engineering and Applications

基　　金：国家自然科学基金No.50775017;国家重点基础研究发展规划(973)No.2006CB300407~~

摘　　要：应用虚拟样机技术对移动机器人机构进行虚拟建模和动态仿真。运用SOLIDWORKS软件,采用模块化的设计方法,建立了移动机器人改进后的三维机构模型;运用虚拟样机仿真软件ADAMS针对改进后的二级减震机构进行动态仿真,并与改进前的一级减震机构仿真效果进行比较,结果表明二级减震机构比一级减震机构能够更加有效地解决四轮移动机器人轮胎与路面随时贴合问题,并具有很好的减震效果,增强了机器人的运动性能和环境适应能力。The application of the virtual prototype technology can create the virtual model and make the dynamic simulation for a mobile robot mechanism.An improving 3D mechanism model of the mobile robot is created using SOLIDWORKS and the modularization design method is adopted.The dynamic simulation for two levels shock absorber in the robot mechanism is made using ADAMS and the effect compares with the simulation effect of one level shock absorber before improving.The result shows that two levels shock absorber Can solve the question of the joint between four wheels of the mobile robot and the ground at any moment more effectively than one level shock absorber and has better shock absorption effect,therefore makes the robot＇s movement capability and adaptability on the environment more optimistic.

关 键 词：移动机器人 虚拟样机 虚拟建模 动态仿真 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]