新型四足步行机器人的腿机构设计  

The leg mechanism design of a new quadruped walking robot

作　　者：卢坤媛[1] 王吉岱[2] 李庆[2] 雷云云[2] 

机构地区：[1]山东工业职业学院机电工程系,淄博256414 [2]山东科技大学机械电子工程学院,青岛266510

出　　处：《机械设计与制造》2010年第3期38-40,共3页Machinery Design & Manufacture

摘　　要：结合腿部机构的典型姿态,规划了四足机器人的合理步态。依据设计参数,运用三维模型软件UG建立了四足机器人的三维实体模型,导入ADAMS中添加约束和动力,进行运动仿真。仿真试验结果表明机构运动中腿部所受冲击力过大,因此进行机构方案改进,重新设计了小腿机构。改进的机构试验表明,四足机器人的腿部受力明显得到了改善,从而机构的设计得到了优化。Combining the several typical postures of the new passive leg mechanical structure ,the gait of the robot is planned. According to the design parameters,the simulation robot model is designed with UG software and the model is put into the software of ADAMS. After added restriction and dynamics, the kinematics simulation is carried out. It is found by simulation analyisis that the impact force exerted on the robot leg is so big that the crus structure need to be im proved.. Then the crus structure is redesigned. Simulation results indicate that the impact of the new structure obviously reduced,then the leg mechanism design of the quadruped robot is optimized.

关 键 词：四足步行机器人 虚拟仿真 腿机构设计 

分 类 号：TH12[机械工程—机械设计及理论] TP24[自动化与计算机技术—检测技术与自动化装置]