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根据拉格朗日方程建立了救援机器人机械腿的刚性动力学微分方程,通过对机械腿运动微分方程的推导和数值求解,对机械腿各关节的转角和末端轨迹进行了分析.采用Recurdyn建立了机器人机械腿的仿真模型,对仿真模型进行了动力学仿真,对比仿真结果和数值求解得到的轨迹,两种方法的结果基本一致,证明了采用多体动力学方法建立的机器人足臂的运动方程,可以准确地描述机器人足臂的动力学特性,为足臂的智能控制提供依据.
Based on the Lagrange equation, a rigid dynamic differential equation of the robot leg of the rescue robot is established. By deducing and numerical solving of the differential equation of the robot leg, the corner and end trajectory of the robot leg are analyzed. Recurdyn The simulation model of robotic manipulator is used to simulate the simulation model. The simulation results are compared with the trajectories obtained from the numerical simulation. The results of the two methods are basically the same, which proves that the equation of motion of the robot leg using the multi-body dynamics method , Which can accurately describe the dynamic characteristics of robot foot arm and provide the basis for the intelligent control of foot arm.