摘要
设计一套简单的模块化双足机器人模型,主要目的是研究此机构在运动过程中的稳定性。首先,根据机构设计及其工作原理在SolidWorks软件中建立三维建模,在此基础上应用SolidWorks Motion对双足机器人进行运动仿真,分析在既定电机速度的情况下机器人脚底板的运动变化曲线及速度变化情况,进而得到摆腰双足机器人在前向运动过程中重心变化情况,得出其稳定情况。最后进一步优化结构的设计。
This paper designs a simple modularized biped race walking robot experimental platform.The main purpose is to study the stability of this mechanism during the exercise.First of all,three-dimensional modeling is established in SolidWorks software according to the design of the organization and its working principle.On this basis,the SolidWorks Motion is used to simulate the biped robots,and the movement curve and velocity of foot under the condition of a given motor speed are analysised and comparised.Then,the center of gravity of the waist-waist biped robot during forward movement was obtained,and its stability is obtained.Finally,further optimize the mechanism is designed.
出处
《工业控制计算机》
2022年第12期94-95,共2页
Industrial Control Computer
基金
2021年度廊坊市科学技术研究与发展计划自筹经费项目:一种模块化可拓展的教育机器人的研究(2021011080)。
