[1]王继祥,王立华,迟连坤,等.基于MATLAB与ADAMS的双足步行机器人特性研究[J].机械与电子,2018,(03):69-73.
　WANG Jixiang,WANG Lihua,CHI Liankun,et al.Research on Characteristics of Biped Walking Robot Based on MATLAB and ADAMS[J].Machinery & Electronics,2018,(03):69-73.
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基于MATLAB与ADAMS的双足步行机器人特性研究
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2018年03期
页码:
69-73
栏目:
智能工程
出版日期:
2018-03-24

文章信息/Info

Title:
Research on Characteristics of Biped Walking Robot Based on MATLAB and ADAMS
文章编号:
1001-2257(2018)03-0069-05
作者:
王继祥; 王立华; 迟连坤; 骆健
(昆明理工大学机电工程学院,云南 昆明 650500)
Author(s):
WANG Jixiang; WANG Lihua; CHI Liankun; LUO Jian
(Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology,Kunming 650500,China)
关键词:
双足步行机器人;  稳定性;  稳定性建模;  能耗建模
Keywords:
biped walking robot;  stability;  stability modeling;  energy consumption modeling
分类号:
TP242.6
文献标志码:
A
摘要:
以模块化类人机器人为研究对象,通过对其进行结构分析,建立数学模型,提出双足机器人的特性参数,设计稳定性函数和能耗函数。通过MATLAB与ADAMS相结合,计算出双足机器人在不同行走速度下和不同摩擦系数下的稳定性和能耗,采用单因素分析法对计算结果进行分析,得出双足步行机器人在不同工况下的稳定性和能耗变化。通过搭建双足步行机器人实验平台,测量双足步行机器人在不同工况下的能量消耗情况,与仿真计算结果进行对比分析,验证了稳定性函数和能耗函数的有效性,这可以作为改善和优化双足机器人结构和参数的依据。
Abstract:
Taking the modular humanoid robot as the research object,this paper,on the basis of structural analysis, established a mathematical model and put forward characteristic parameters of the biped walking robot, design stability function and energy consumption function.Firstly,by the combination of MATLAB and ADAMS, the stability and energy consumption of the biped walking robot under different walking speed and different friction coefficient were calculated.Then,the results of the calculation were analyzed by using single factor analysis,from which the stability and energy consumption changes of the robot were obtained under different working conditions.Next,the experimental platform for the biped walking robot was set up to measure the actual energy consumption.Finally, the results from the experiment were compared and analyzed with the simulated results.The research verifies the validity of the stability function and the energy consumption function,which can serve as a basis for improving and optimizing the biped walking robot's structure and parameters.

参考文献/References:

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　QIN Gang,ZHOU Zhendong,LIU Weiqian,et al.Improvement of Automation and Study of Stability for Manual Punching Pile Driving Machine[J].Machinery & Electronics,2015,(03):38.

备注/Memo

备注/Memo:
收稿日期：2017-12-08
作者简介：王继祥(1993-)，男，云南宣威人，硕士研究生，研究方向为机械动力学及其应用、机器人动力学特性等；王立华(1974-)，男，四川达州人，博士，硕士研究生导师，研究方向为机械动力学分析与设计方向等；迟连坤(1990-)，男，黑龙江萝北人，助理工程师，研究方向为机械动力学及其应用等；骆健(1994-)，男，湖南新田人，硕士研究生，研究方向为机械动力学及其应用、机器人动力学特性等。
更新日期/Last Update: 2018-03-24