摘要
提出一种新型的多足仿生机器人的运动机构,该机构具有运动灵活,自由度少的特点。利用D-H矩阵对该机构基本运动单元的运动学进行了理论分析,给出了运动学方程。基于虚拟样机技术对该运动学方程进行了仿真验证,结果表明运动学方程是正确的。建立了这种新型的多足仿生机器人的虚拟样机,并对其进行了虚拟样机的仿真研究。制作出了简易的一对足的实物试验机构。
A New mechanism of Bionic Multilegged Robot is proposed,which difers from the previous robot mechanism in that the mechanism is moveable and has few degree of freedom.Upon homogeneous transformation,kinematics analysis of each basic functional component of the mechanism was com-pleted,and kinematical equation was set up.Based on virtual typing,virtual prototype of the mechanism of bionic multilegged robot was established,and research was done upon virtual prototype simulation.The simulation results coincided well with kinematical equation.A simple pair of physical model of the mechanism was built.
出处
《机械设计与制造》
北大核心
2010年第8期103-105,共3页
Machinery Design & Manufacture
基金
西南科技大学青年基金科研项目(09zx3157)
教改项目(219xn0800-71)
