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支撑转换期的冲击产生的振动是影响机器人实现稳定、快速的仿人步行的一个重要原因。该文分析了振动对仿人机器人步行性能的影响,运用三维有限元模态分析理论,采用ANSYS软件技术对THBIP- 双足机器人系统结构的振动特性进行了研究,建立了精确的有限元弹性力学模型,计算出结构的固有频率和振型,并结合静力学分析结果和频率测试实验结果,研究刚度、间隙和接触对振动特性的影响。频率测试、比较、分析结果说明,该模型能够正确分析出THBIP- 样机结构的力学特性。
Vibration caused by the shocks during the transition period is an important factor that influences the robot’s stable and rapid walking. This paper analyzes the influence of vibration on the walking performance of the humanoid robot. By using the three-dimensional finite element modal analysis theory, the vibration characteristics of the THBIP-biped robot system structure are studied by ANSYS software, and the accurate finite element elastic mechanics Model, the natural frequencies and modes of the structure are calculated. Based on the static analysis results and the frequency test results, the influence of the stiffness, the clearance and the contact on the vibration characteristics is studied. Frequency test, comparison and analysis results show that the model can correctly analyze the mechanical properties of THBIP-prototype structure.