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从仿生蟑螂机器人机构特点出发,基于运动灵活性,选择椭圆形身体布局,分别以单腿工作空间和整机雅克比矩阵的条件数倒数作为灵巧度指标,在兼顾运动灵活性和可靠性的基础上,对机器人机构参数进行优化配置,选择了最优的杆长比例.利用分析得出的优化尺寸建立ADAMS参数化仿真模型进行实验研究,仿真结果与理论分析相吻合,验证了优化配置的可行性和正确性,为样机的研制和机器人的驱动及控制等进一步研究奠定了基础,也为其他六足机器人的开发提供了参考.
Based on the characteristics of bionic cockroach robot, based on the flexibility of motion, elliptical body layout is selected. The reciprocal of condition number of one-legged workspace and the whole Jacques ratio matrix is taken as the index of dexterity. Based on the consideration of flexibility and reliability , Optimized the parameters of the robot mechanism and selected the optimal ratio of the rod length.Analyzed the optimal size to establish ADAMS parametric simulation model for experimental research.The simulation results are in line with the theoretical analysis to verify the feasibility of optimal configuration Sex and correctness, laid the foundation for further research on prototype development and robot driving and control, and also provided reference for the development of other six-legged robots.