跳跃机器人带传动系统的建模及仿真分析  

Model and simulation of the strip transmission system of the hopping robot

作　　者：魏禹[1] 李永波[2] 王茂林[1] 孙天仕 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001 [2]株洲时代新材料科技股份有限公司,湖南株洲412007

出　　处：《应用科技》2013年第2期53-58,共6页Applied Science and Technology

基　　金：国家自然科学基金资助项目(51175099)

摘　　要：针对机器人在跳跃过程中各关节受到冲击这一现象,为避免机器人实物样机试验过程中机械本体遭到破坏,对机器人的同步带传动系统进行动力学仿真分析.在模拟带传动中,主要运用ADAMS的命令流建立了带传动的模型,其具有快速、准确的优点.仿真结果表明:同步带传动系统能够减小跳跃过程产生的冲击,同时为离散化实现柔性体仿真提供一条路径.In the hopping process of a robot, the joints are being impacted, and considering this phenomenon, in order to avoid breaking the mechanical body of the hopping robot prototype model in the test, the dynamics simulation of the synchronous strip transmission system of the hopping robot was done. In the imitation of the transmitting strip, the model of strip transmission was established by the ADAMS command stream, having the advantage of speediness and accuracy. The result indicates that the strip transmission system reduces the impact in the hopping process, providing a path for achieving discrete flexible body simulation.

关 键 词：跳跃机器人 带传动系统 命令流 建模 动力学仿真 

分 类 号：O313.7[理学—一般力学与力学基础] TJ818[理学—力学]