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介绍了一种具有手脚融合功能的四足步行机器人ZQROT-1的构型,然后对具有手脚融合功能摆动腿抓取姿态下的逆运动学问题进行了研究,对相关公式进行了推导,运用ADAMS软件进行了运动学与动力学仿真。文中着重对该机器人在抓取物块过程中的动力学特性进行了仿真分析,并进而分析了机器人失稳的情况。分析结果可以作为机器人优化结构、确定参数的依据。该方法与思路对解决同类问题有一定的参考意义。
The configuration of a quadruped walking robot ZQROT-1 with hand-foot fusion function is introduced. Then, the inverse kinematics problem of the swing leg with a hand-foot fusion function is studied. The relevant formulas are deduced. The ADAMS Software kinematics and dynamics simulation. In this paper, the dynamic characteristics of the robot during the grasping process of the robot are simulated and analyzed, and then the situation of the robot’s instability is analyzed. The results of the analysis can be used as a robot optimization structure to determine the basis for the parameters. The method and train of thought have certain reference meaning for solving similar problems.