机械制造与自动化Issue(3)：168-170,174,4.
含柔性铰链的仿人机器人柔性足设计及动力学仿真
Design and Dynamic Simulation of Robot’ s Foot with Flexure Hinge
张亚平 1周建军 1陈耀1
作者信息
- 1. 杭州电子科技大学 机械工程学院，浙江 杭州310018
- 折叠
摘要
Abstract
Aiming at the impulsive force which gives an impacted on the feet of the humanoid robot as it walks on rough ground,this paper designs a type of multidimension flexiblehinge,based on the method of pseudorigidbody models,analyzes the relationship between the different loads on the multidimension flexiblehinge and the corresponding displacements in detail and figures out both the maximum vertical displacement and the maximum intersection angle. The dynamic model of the foot is built and analyzed by using the SimMechanics module of Matlab. The result indicates that the new designed foot is characteristic of the large buffering displacement, It can be a great help to improving the robot’ s walking stability and protecting the joint transmission components from damage. Meanwhile,the foot can release the storing power rapidly,which makes its walking keep high efficiency and persistence.关键词
仿人机器人/柔性铰链/柔性足/设计Key words
humanoid robot/flexible hinge/flexible foot/design分类
机械制造引用本文复制引用
张亚平,周建军,陈耀..含柔性铰链的仿人机器人柔性足设计及动力学仿真[J].机械制造与自动化,2014,(3):168-170,174,4.
