具有手脚融合功能的四足步行机器人抓取姿态下的运动仿真  

Motion simulation of four-legged walking robots with hand-foot-integrated function under grasp configuration

作　　者：王新杰[1] 张小辉[1] 王良文[1] 陈卫红[1] 王传鹏[1] 

机构地区：[1]郑州轻工业学院机电工程学院,河南郑州450002

出　　处：《机械设计》2012年第12期34-38,共5页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50875246);河南省高校科技创新团队支持计划资助项目(2012IRTSTHN013)

摘　　要：介绍了一种具有手脚融合功能的四足步行机器人ZQROT-1的构型,然后对具有手脚融合功能摆动腿抓取姿态下的逆运动学问题进行了研究,对相关公式进行了推导,运用ADAMS软件进行了运动学与动力学仿真。文中着重对该机器人在抓取物块过程中的动力学特性进行了仿真分析,并进而分析了机器人失稳的情况。分析结果可以作为机器人优化结构、确定参数的依据。该方法与思路对解决同类问题有一定的参考意义。A four-legged walking robot ZQROT-1 with hand-foot-integrated function is introduced in this paper first,then the inverse kinematic problem of the swing leg with hand-foot-integrated function is researched and the relevant formula is deduced,finally,kinematic and dynamic operation is simulated with ADAMS.The dynamics performance of ZQROT-1 in the process of capturing object is analyzed emphatically,and then the instability of the robot is researched.The analysis results can be used to optimize robot structure and determine its characteristic parameter.Methods of the paper can be referred to solve similar problem in some aspect.

关 键 词：多足步行机器人 手脚融合 抓取姿态 动力学 ADAMS仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]