小型四足机器人的机械设计与仿真.docVIP

小型四足机器人的机械设计与仿真 摘要 四足机器人有很强的环境适应性和运动灵活性，可广泛运用于抢险救灾、排雷、探险、娱乐、及军事等领域，因此，对四足机器人的研究已经成为机器人研究领域的重要课题。本文介绍了一种能实现前方探测功能的小型四足机器狗的机械设计与仿真过程。论文的主要内容包括： 简要分析了国内外四足机器人的发展现状和趋势。 根据要实现的功能对机器狗进行整体机械设计与关键部位的优化。 采用三维造型软件Solidworks建立四足机器狗的本体结构， 然后在保持模型质量、质心位置和转动惯量等物理信息和几何信 息不变的条件下，对模型进行简化，便于仿真。 采用Parasolid文件传输标准，利用ADAMS的专业图形接口模块ADAMS/Exchange，把在SolidWorks环境下建立的简化后的模型导入ADAMS/View中。在ADAMS/View环境下，根据实际情况添加相应的约束、驱动和力。然后进行仿真，并将仿真过程保存在AVI格式的电影文件。 关键字：四足机器狗，机械设计，SolidWorks，ADAMS，仿真 Abstract The quadruped robot, which has advantages of good surrounding adaptability and high move agility, is applied to a great deal of fields such as rescue realm, mine sweeping, adventure, entertainment, military affairs, etc. So the research on quadruped robot dog has become very important in robot research area. The main research introduces the mechanical design and simulation process on a kind of quadruped robot dog that can detect front environment. It includes: Current research situation and development trend of quadruped robot dog both in domestic and abroad is briefly introduced. According to its expecting function, overall mechanical designing and optimization on key parts are done. Establish the body structure of quadruped robot dog with 3d modeling software-Solidworks. Then simplify the model for the convenience of simulation with the quality, the centroid position and model of inertia, information and geometry keeping stable. Import the simplified model which is in Solidworks environment into ADAMS/View by using the professional graphic interface module of ADAMS/Exchange with the file transfer standard of Parasolid. In ADAMS/View environment, according to the actual situation of the corresponding restraint, add driver and force. Then simulated it, and save the process of simulation of AVI format file. Key words: quadruped robot dog, mechanical design, SolidWorks, ADAMS, simulation 目录 摘要 I Abstract II 第一章 引言 1 1.1 机器人概述 1 1.1.1 机器人发展概述 1 1.1.2 四足机器人概述 3 第二章 四足机器狗的本体设计 6 2.1 概述 6 2.2