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本文研究一种用作机器人步行腿的闭式运动链八杆机构,讨论了该机构的特点,对各构件尺寸进行了初步优化。在此基础上,用拆杆拆副法进行了该机构末端件的相对轨迹仿真、机器人行走时末端件的绝对轨迹及机器人本体运动轨迹的仿真;并进行了速度、加速度分析。文末附有机构运动简图、相对轨迹。绝对轨迹及速度、加速度线图。研究结果表明;该机构用作机器人步行腿机构是较合适的。根据初步优化尺寸研制的模型经试验证明基本成功。
In this paper, an eight-bar mechanism with closed kinematic chain which is used as a walking leg of a robot is studied. The characteristics of this mechanism are discussed, and the size of each component is optimized. On this basis, the relative trajectory simulation of the end of the mechanism, the absolute trajectory of the end of the robot walking and the trajectory of the robot body were carried out by the split-rod disassembly method; and the velocity and acceleration were analyzed. Text attached to the end of the body movement diagram, the relative trajectory. Absolute trajectory and speed, acceleration line graph. The results show that this mechanism is more suitable for robotic walking leg mechanism. According to the initial optimization of the size of the model developed by the test proved the basic success.