摘要
针对森林火灾巡检与防控装备的现状,开展了六足减灾救援仿生机器人机构设计与仿真研究,以期解决恶劣的复杂地形作业环境下的灾难救援问题。基于仿生甲虫的结构和功能设计了六足减灾救援仿生机器人的躯体和腿部机构。腿机构由六条腿组成,沿躯体中轴线两边对称分布,每腿由三个旋转关节组成的三自由度串联机构。给出了六足减灾救援仿生机器人的物理模型,搭建了机器人仿真的复杂环境,进行仿真,给出了基于三角步态的六足减灾救援仿生机器人直行和转弯的运动仿真,得到了质心的位移、速度、角速度和各个关节的动能和驱动力矩的曲线。仿真结果表明,六足减灾救援仿生机器人机构设计满足设计要求。
This paper carries out the design and simulation of hexapod bionic robot for disaster relief and rescue based on the status of forest fire prevention and control equipment, which aims to solve the problem of disaster relief operations in complex terrain environments. The design of the hexapod bionic robot＇ s body and legs is based on the structure and function of bionic beetles. The leg mechanism is composed of six legs, each of which consists of three rotary joints and has 3 degrees of freedom, and the six legs are distributed symmetrically on both sides of the body a- long the body axis. This paper gives a physical model of hexapod bionic robot for disaster relief and rescue, builds a complex terrain environment for stimulation, and conducts a robot simulation in the environment. This paper gives the motion simulation of straight and turning movements based on the tripod gait of hexapod bionic robot for disaster relief and rescue, which obtains centroid displacement, velocity, angular velocity, together with the kinetic energy and drive torque curve of each joint. The simulation results show that the mechanism design of hexapod bionic robot for disaster relief and rescue meets the requirements of design.
出处
《计算机仿真》
CSCD
北大核心
2015年第11期373-377,共5页
Computer Simulation
基金
国家公益性行业科研专项重大项目(2014-04402-03)
江苏省大学生科研创新实践计划(2012JSSPITP0736)
关键词
六足
减灾救援
仿生机器人
机构
仿真
Six-legged
Mitigation Rescue
Biomimetic robots
Institutions
Simulation
