仿人机器人的设计与实现  

Design and Implementation of the Humanoid Robot

作　　者：宫赤坤[1] 高丽丽[1] 

机构地区：[1]上海理工大学机械工程学院,上海200093

出　　处：《机械传动》2013年第5期43-46,49,共5页Journal of Mechanical Transmission

基　　金：上海市教育委员会重点学科建设项目资助(J50503)

摘　　要：根据仿人机器人实现功能的要求,对机器人各关节自由度合理安排,完成仿人机器人的机构设计。运用D-H坐标表示方法,进行坐标系选取,位姿描述和坐标变换,并建立仿人机器人的运动学方程求运动学的正逆解,从而计算了仿人机器人的运动学。由Pro/E建立实体模型导入到ADAMS中进行虚拟样机仿真,通过查看后处理器运动学仿真结果,并与计算结果相比较,从而得出结论,为物理样机的制造提供科学依据。Each joint of robot is reasonably arranged to completely design the humanoid robot mechanism according to the request of humanoid robot function.A D-H coordinate method is used in coordinate system selection,position description and coordinates transformation,the humanoid robot kinematics equation is established to solve the positive and inverse solution.The model established by the Pro/E is imported into ADAMS to run the virtual prototype simulation.The comparison between the kinematics simulation results through the postprocessor and the calculation results can provide scientific basis for the manufacture of physical prototype.

关 键 词：仿人机器人 D-H坐标系 运动学 虚拟样机 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]