基于ADAMS的步行机器人MiniQuad-Ⅱ机体载荷质量变化对驱动力矩的影响研究  

Research of the Influences of Body Load Quality Changed of Walking Robot MiniQuad-Ⅱ on Driving Moment based on ADAMS

作　　者：陈学文[1] 潘春梅[1,2] 王良文[3] 穆小奇[3] 

机构地区：[1]广东轻工职业技术学院机电工程系,广东广州510300 [2]许昌职业技术学院机电工程系,河南许昌461000 [3]郑州轻工业学院机电工程学院,河南郑州450002

出　　处：《机械传动》2013年第9期18-21,24,共5页Journal of Mechanical Transmission

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

摘　　要：通过在SolidWorks软件中建立四足步行机器人MiniQuad-Ⅱ的三维实体模型,采用ADAMS进行运动学、动力学仿真。在对相关过程进行描述的基础上,以MiniQuad-Ⅱ运行直线步态为例,利用ADAMS对该机器人在运行过程中的力学特性进行了分析。探讨了增减机器人机体载荷质量时对机器人驱动力矩影响。该分析结果可以作为扩展机器人用途、优化机器人结构、确定机器人动力参数的依据。该文的方法与思路对解决同类问题有一定的参考意义。Three - dimensional entity model of walking robot MiniQuad - II is built up by using Solidworks, the dynamics and kinematics of the robots are simulated based on ADAMS. Based on related process description, taking the robot MiniQuad - II walking along straight line as an example the dynamic property of the robot is analyzed by using ADAMS. When Robot body load quality are changed, the influences on drive torque of robot are discussed. Results can be used to extend robot uses, optimize robot structure and determine its characteristic parameter. The methods can be referred to solve similar problem in some aspect.

关 键 词：多足步行机器人 建模 动力学 驱动力矩 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]