教学用双足步行机器人前向运动建模与研究  

Forward Movement Modeling and Research of A Teaching-type Bipedal Walking Robot

作　　者：张蔓[1] 高宇博[1] 李军[1] 王妍玮[1] 于惠力[1] 

机构地区：[1]哈尔滨石油学院,黑龙江哈尔滨150028

出　　处：《林业机械与木工设备》2017年第5期32-34,39,共4页Forestry Machinery & Woodworking Equipment

基　　金：哈尔滨石油学院课程改革与建设项目“‘单片机原理及应用’课程教学改革”;黑龙江省高等教育学会“十三五”高等教育科研课题项目(规划课题)“机电类专业本科创新教育体系研究与实践”(16G446)

摘　　要：针对教学用双足步行机器人样机,建立五连杆物理模型,对前向运动进行分析,运用正运动学理论建立运动学方程,结合机器人样机实际参数,推导出该双足机器人各关节速度函数及重心坐标;在此基础上采用ADAMS软件建立机器人正向运动模型,通过仿真得到关节角度变化曲线,进而得到双足机器人步行过程中关节角度的变化规律。In view of the prototype of a teaching - type bipedal walking robot, a five - link physical model is estab-lished for analysis of forward movement. A kinematics equation is established using the forward kinematics theory, and coupled with the actual parameters of the robot prototype, the velocity function and barycentric coordinates of each joint of this bipedal robot are deducted, based on which ADAMS software is used to establish the forward movement model of the robot and through simulation, the joint angle change curve is obtained and then the change law of the joint angle of the bipedal robot in the walking process is obtained.

关 键 词：教学 双足机器人 步态 模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]