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利用曲柄滑块机构传动性能和机构特性,设计了一种新型的适用于攀爬阶梯的机器人行走机构。简要介绍了阶梯攀爬机器人新式行走机构的结构和工作原理,通过建立行走机构数学模型,利用哈密尔顿原理建立了系统的动力学方程;运用机械系统动力学分析软件ADAMS对行走机构进行动态仿真分析,得到关键运动部件的运动规律曲线和动力学分析曲线;结果表明,该行走机构的设计方案具有可行性、合理性、可靠性、正确性和适用性。ADAMS对其复杂结构的仿真准确可靠,反映了各个构件间冲击和扰动产生的动力学响应,为行走机构减震降噪的优化设计提供了重要参数。
By using the transmission performance and mechanism characteristics of the crank-slider mechanism, a new type of robot traveling mechanism suitable for climbing stairs is designed. The structure and working principle of the new walking mechanism of the step climbing robot are briefly introduced. The dynamic equations of the system are established by using the Hamilton principle and the dynamic simulation of the traveling mechanism by using the mechanical system dynamics analysis software ADAMS. The kinematic curve and dynamic analysis curve of the key moving parts are obtained. The results show that the design scheme of the traveling mechanism has the feasibility, rationality, reliability, correctness and applicability. ADAMS simulation of its complex structure is accurate and reliable, which reflects the dynamic response of the impact and perturbation between the various components, which provides important parameters for the optimization design of vibration and noise reduction of the traveling mechanism.