仿生尺蠖机器人的机构设计及仿真
张运真，韩玉坤
（安阳工学院 机械工程学院，河南 安阳 455000）
摘要：通过研究多种爬杆机器人的机构特点和性能，并观察分析节肢动物尺蠖行进步态的变化规律，确定了采用两套复合曲柄滑块机构和两套夹紧机构，模拟尺蠖沿杆体向上蠕动爬行的机构运动方案。利用软件CATIA建立了仿生机器人的三维机构模型，并在软件MSC SimDesigner for CATIA V5中设置了仿生机器人各机构类型和参数等。采用step函数控制两套曲柄机构和锁紧机构的顺序运动，通过分析得到了尺蠖机器人的运动规律和动画，验证了机构方案的可行性。
关键词：尺蠖；仿生；复合曲柄滑块机构；锁紧机构；动态仿真
中图分类号：TP391.9 文献标志码：A doi：10.3969/j.issn.1006-0316.2014.11.014
文章编号：1006－0316 (2014) 11－0057－04
Mechanism design and simulation of bionic inchworm robots
ZHANG Yun-zhen，HAN Yu-kun
( School of Mechanical Engineering, Anyang Institute of Technology, Anyang 455000, China )
Abstract：The structure and performances of various type pole-climbing robots ware studied, the variation of marching gait of the inchworm was analyzed, and the general motion scheme including two sets of compound crank block mechanisms and two sets of retaining mechanisms to imitate inchworm crawling up and down along rod body was determined. In CATIA 3D bionic robot assembly model was established. Based on the model, the robotic mechanism type and parameters and so on were set up in software MSC SimDesigner for CATIA V5. The movement of two sets of crank block mechanisms was controlled using step function, through the analysis the movement rules and animation of the robots inchworm were got, the feasibility of the scheme of the mechanism was verified.
Key words：inchworm；bionic；compound crank block mechanisms；retaining mechanism；dynamic simulation
———————————————
收稿日期：2014－06－19
作者简介：张运真（1978－），女，河南安阳人，硕士，副教授，主要研究方向为机械设计。
设为首页 | 加入收藏 | 免责条款
《机械》杂志版权所有 Copyright©2008-2012 Jixiezazhi.com All Rights Reserved
电话：028-85925070 传真：028-85925073 E-mail：jixie@vip.163.com
地址：四川省成都锦江工业开发区墨香路48号 邮编：610063
Powered by PageAdmin CMS