不同路况下复合型机器人设计计算及仿真分析.pdfVIP

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不同路况下复合型机器人设计计算及仿真分析

陈邦印，王建生，李慈心，王宏民

（五邑大学智能制造学部，广东江门529020）

摘要：

复合型机器人在不同路况下行走的有效性至关重要，它决定着机器人设计的合理性和及其应用场景的广泛性。为

了使复合型机器人能够有效地行走在不同路况下，先从复合型机器人整体结构设计出发，分析复合型机器人在不同路况下

的力学模型。运用ADAMS动力学仿真软件进行运动仿真，得到在爬坡、转弯、凹凸障碍物下的运动效果，验证了设计复合

型机器人结构的合理性。

关键词：

复合型机器人；不同路况；结构设计；ADAMS

中图分类号:TP242文献标志码:粤文章编号：员园园圆原圆猿猿猿（圆园21）09原园023原园6

DesignCalculationandSimulationAnalysisofCompositeRobotunderDifferentRoadConditions

CHENBangyin,WANGJiansheng,LICixin,WANGHongmin

(DepartmentofIntelligentManufacturing,WuyiUniversity,Jiangmen529020,China)

Abstract:Theeffectivenessofthecompositerobotunderdifferentroadconditionsisverimportant,whichdeterminesthe

rationalitoftherobotdesignandtheuniversalitofitsapplicationscenarios.Inordertomakethehybridrobotwalkin

differentroadconditionseffectively,themechanicalmodelofthehybridrobotunderdifferentroadconditionsisanalyzed

fromtheoverallstructuredesignofthehybridrobot.ADAMSdynamicssimulationsoftwareisusedtosimulatethe

movement,themovementeffectundertheclimbing,turningandbumpobstaclesisobtained,whichverifiestherationalit

ofthedesignofthecomplexrobotstructure.

Keywords:compositerobot;differentroadconditions;structuraldesign;ADAMS

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