基于虚拟样机技术的仿人机器人电机选型  

Motor selection of humanoid robot based on virtual prototyping technology

作　　者：罗刚[1] 李祖枢[1,2] 薛方正[1] 杨豪[1] 

机构地区：[1]重庆大学智能自动化研究所,重庆400030 [2]重庆工学院人工智能系统研究所,重庆400050

出　　处：《机械研究与应用》2009年第3期79-82,共4页Mechanical Research & Application

摘　　要：针对仿人机器人设计中电机选型的问题,提出基于虚拟样机技术的电机选型方法。在初选参考电机后,设计符合要求的机器人,使用Pro/E和ADAMS联合建立仿人机器人的虚拟样机模型,运用此虚拟样机进行机器人动力学仿真,以仿真参数为依据,进行电机系统的精确选型。最后通过比较关节负载特性曲线与电机的理想机械特性曲线,验证了电机选型的合理性。In the paper, this problem of motor selection for robot design based on virtual prototype technology is solved. After the initial selection of motor and motor reducer, the humanoid robot is designed and its virtual prototype model is build up by the software Pro/E and ADAMS, then simulating its walking movements. At the end of simulation, the simulation parameters are presented, which contribute to precise motor selection. Finally, comparing the load characteristic curve with the motor characteristie curve, the results verify that the motor selection is reasonable.

关 键 词：仿人机器人 虚拟样机技术 动力学仿真 机械特性曲线 电机选型 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]