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仿蜥蜴机器人是模拟蛇怪蜥蜴运动方式实现水面行走的机器人,其脚掌的运动特性决定了机器人能否实现水面行走.本文通过构建机器人单腿驱动机构及脚掌模型,运用ADAMS软件分析了机器人单腿驱动机构在不同速度时脚掌处入水特性;利用计算流体动力学分析软件FLUENT中动网格技术,仿真分析脚掌拍水、扑水和恢复运动过程,分析机器人单腿驱动速度与空气腔形成的关系,结果表明转速不低于270 r/min时,脚掌能够形成空气腔;最后在实验室环境下进行机器人水面行走实验,实验结果与理论分析结果相符.
Imitating lizard robot is a robot simulating the movement of basilisk lizard to realize the walking on the water, and the kinematics of the sole determines whether the robot can walk on the surface of water.Based on the construction of the robot’s one-legged driving mechanism and the sole model and ADAMS software, Driven mechanism at different speeds of the feet at the water characteristics; the use of computational fluid dynamics analysis software FLUENT meshing technology to simulate the analysis of the foot water, water and recovery movement process, analysis of the robot leg speed and air cavity formation relationship The results show that when the rotation speed is not less than 270 r / min, the soles of the feet can form the air cavity. Finally, the robot walking on the water surface is carried out in a laboratory environment. The experimental results are consistent with the theoretical analysis.