机械陀螺仪式双足机器人机械设计及优化分析  

Mechanical Design and Optimization Analysis of Mechanical Gyro Ritual Biped Robot

作　　者：吴海青 何满塘 张小强 Wu Haiqing;He Mantang;Zhang Xiaoqiang(Department of Mechanical Engineering,Taiyuan Institute of Technology,Taiyuan 030008,China)

机构地区：[1]太原工业学院机械工程系,太原030008

出　　处：《机电工程技术》2023年第12期80-85,共6页Mechanical & Electrical Engineering Technology

基　　金：山西省高校联合科技创新项目(2020L0642)。

摘　　要：为了研究轮腿式双足机器人在行走过程中的平衡状态,以机械陀螺仪为研究对象,设计了一种机械陀螺仪式的平衡机器人。根据低速飞轮的惯性原理,结合高速“陀螺仪效应”,利用Creo建立双足机器人的三维模型;基于创成式优化设计理论,在ANSYS平台对模型进行仿真分析;在保证机器人整体强度和刚度的前提下,对设计结构进行轻量化优化;将优化结果进行对比分析。结果表明:在规定条件下,可以将机器人的整体质量降低55.7%,在实现结构轻量化的同时保证了机器人的运动特性。利用ADAMS软件对带有机械陀螺仪的足式机构进行了动力学仿真,仿真结果验证了设计的正确性。In order to study the balance state of wheel-legged biped robot during walking,a kind of balance robot with mechanical gyroscope is designed.According to the inertia principle of the low-speed flywheel,combined with the high-speed"gyroscope effect",the three-dimensional model of the biped robot is established by using Creo;the model is simulated and analyzed on the ANSYS platform based on the theory of creative optimization design;under the premise of ensuring the overall strength and stiffness of the robot,the lightweight optimization of the design structure is carried out;the optimization results are compared and analyzed.The results show that under the specified conditions,the overall weight of the robot can be reduced by 55.7%,and the structural lightweight can be achieved while the robot's motion characteristics can be guaranteed.ADAMS software is used to simulate the dynamics of the foot mechanism with mechanical gyroscope,and the simulation results verify the correctness of the design.

关 键 词：轮腿式 双足机器人 机械陀螺仪 创成式优化设计 

分 类 号：TH113.2[机械工程—机械设计及理论]