全方位移动机器人的改进与仿真分析  

Simulation Analysis and the Improvement of the Omnibearing Walking Robot

作　　者：梁虎[1] 罗强[1] 邓正华[1] 葛卫国[1] 

机构地区：[1]重庆三峡学院机械工程学院,重庆404000

出　　处：《机械传动》2016年第2期133-136,141,共5页Journal of Mechanical Transmission

摘　　要：介绍了一种以全方位水平姿态机器人为基础进行改进设计的机器人。通过在足掌处添加转动机构,使得机器人可以坡面行走,从而实现了机器人在水平面、斜坡上的行走和垂直面的跨越;对机器人进行了建模,分析了机器人各腿部行程关系、机器人位置关系、爬坡能力等;使用Solid Works和ADAMS软件仿真分析了两种落脚方式、机器人爬坡运动过程关键部位受力状况。A robot which redesigned based on the omnibearing level posture robot is introduced. By adding a rotating mechanism on each sole,the redesigned robot can walk on the slope surface,thereby,it can walk on the two special surfaces as horizontal surface,slope surface,and overcome the vertical surface. The modeling of robot is carried out,and calculate the stroke relations among all the legs,the location relations between the robot and the environment,and the gradeability of the robot and so on are analyzed. The simulation analysis of two kinds of contact way and force condition of the key parts while it walks from horizontal surface to slope surface are analyzed by using Solidworks and ADAMS software.

关 键 词：全方位水平姿态机器人 转动机构 斜坡行走 ADAMS 软件仿真 关键部位受力 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]