Kinematic and Dynamic Analysis of the Quadruped Walking Robot's Structure and Movement Simulation
-
摘要: 随着科技的不断进步,机器人的设计和应用逐渐成为当今科技领域研究的热点,机器人产业得到了快速发展。为了增强四足步行机器人的环境适应性和灵活性,发挥其在众多领域的关键作用,该文在分析当前研究现状及传统步行机构局限性的基础上,参考契贝谢夫四足步行机构,采用平面六杆机构,对四足步行机器人的结构进行分析和优化,利用AutoCAD 2023和SolidWorks软件进行三维建模和运动仿真分析,验证了所设计结构的合理性和可行性。Abstract: With the continuous advancement of technology, the design and application of robots have gradually become a hot topic in the field of technology research, and the robotics industry has developed rapidly. In order to enhance the environmental adaptability and flexibility of quadruped walking robots so as to play a crucial role in various fields, this article analyzes the current research status and limitations of traditional walking mechanisms; on this basis, referring to the combination of Chebyshev's quadruped walking mechanism, the structure of the quadruped walking robot is analyzed and optimized with a planar six-bar mechanism. The 3D modeling and motion simulation analysis are conducted by using AutoCAD 2023 and SolidWorks software to verify its rationality and feasibility.
-
Keywords:
- quadruped walking robot /
- six-bar mechanism /
- structural analysis /
- motion simulation
-
-
[1] 王丽君.四足机器人的结构设计.中国职协2017年度优秀科研成果获奖论文集(一二等奖).广东省机械高级技工学校,2018:7. [2] 孔祥瑞.四足机器人轨迹规划与运动学仿真分析.郑州:华北水利水电大学,2017. [3] 胡家信,秦海鹏,朱小明.四足机器人腿部结构设计与分析[J].大众科技,2022,24(11):1-5. [4] 沈为清.一种交叉足步行机器人的设计[J].机电工程技术,2020,49(12):95-96+154. [5] 孟 健,刘进长,荣学文,等.四足机器人发展现状与展望[J].科技导报,2015,33(21):59-63. [6] 李 岩.四足步行机器人结构设计分析[J].山东工业技术,2019(10):138. [7] 马 彪.一种四足步行机器人结构设计与分析.北京:北京交通大学,2007. [8] 肖晓萍,李自胜. 契贝谢夫四连杆机构的优化设计与应用[J].机械设计与制造,2011(9):63-65. [9] 李学刚,张丽娟,冯立艳,等.二自由度六杆机构轨迹综合的代数求解[J].机械设计与制造,2023(8):27-33.
计量
- 文章访问数: 18
- HTML全文浏览量: 1
- PDF下载量: 4
下载:
