农业工程学报Issue(2)：17-23,7.DOI:10.3969/j.issn.1002-6819.2013.02.003
基于空间模型技术的拟人机械腿的运动学传递性能分析
Kinematics transmission analysis on anthropopathic mechanical leg based on spatial model technique
摘要
Abstract
In order to make up for the deficiencies of the anthropopathic robots structure and improve its popularity and adaptability, a novel anthropopathic mechanical leg was proposed, and its kinematics transmission analysis was discussed in detail. First of all, the inverse position equations and kinematics transmission equations for the anthropopathic mechanical leg were derived analytically. Then the evaluation indicator of kinematics transmission properties and global performance indicator of kinematics transmission properties for the thigh and calf of anthropopathic mechanical legs were defined based on the position and kinematics analysis. Finally the kinematics atlases were analyzed using the spatial model technique, and the effects of the parameters on the global performance indicator of kinematics transmission were given in the limited space coordinate system. The research results of the kinematics analysis showed that, with the parameters closer to the intermediate value, the evaluation indicator value of global velocity transmission was better; with the increase of the length of rod WE, ED and O1D, the evaluation indicator value of global angle velocity transmission was better; with the decrease of the length of rod OC, BC, DO1 and GH, the evaluation indicator value of global angle velocity transmission was better. The study provides a reference for the parameter optimization and application of the anthropopathic mechanical legs.关键词
拟人机器人/机电一体化/运动学/拟人机械腿/性能图谱/空间模型Key words
anthropomorphic robots/mechatronics/kinematics/anthropopathic mechanical legs/index atlases/space models分类
信息技术与安全科学引用本文复制引用
李研彪,刘毅,赵章风,李景敏,计时鸣..基于空间模型技术的拟人机械腿的运动学传递性能分析[J].农业工程学报,2013,(2):17-23,7.基金项目
国家自然科学基金(51005207) （51005207）
中国博士后基金(20090461403) （20090461403）
浙江省教育厅基金(Y200908129) （Y200908129）
2010年度浙江省博士后科研择优资助项目及浙江工业大学重点实验室开放基金(2009EP004) （2009EP004）
