偏心圆柱凸轮蜘蛛机器人的建模与仿真

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI:10.1109/RCTFC.2016.7893403

R. Thennarasu, K. Thiruppathi, S. Raghuraman

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引用次数: 1

摘要

蜘蛛机器人是一种八条腿的机械飞行器，可以在太空中行走。蜘蛛机器人的三条或多条腿可以用来保证机器人的静稳定性。其余的腿可以用来到达一个新的位置或操作有效载荷。即使一条或两条腿残废，机器人也可以移动。本文的目标是对八足行走蜘蛛机器人进行建模和仿真。这个机器人采用偏心圆柱凸轮机构。该机构的特点是仅使用两个致动器使机器人行走甚至转弯。采用Pro ENGINEER软件对蜘蛛机器人进行建模，ADAMS软件对其机构进行仿真。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Modeling and simulation of spider robot with an eccentric cylindrical cam mechanism

Spider robot is an eight legged mechanical vehicle that walks in space. Three or more legs of spider robot can be used for making the robot statically stable. The rest of the legs can be used to reach a new position or to operate a payload. The robot may move even if one or two legs become disabled. The objective of this paper is to model and simulate eight legged walking spider robot. This robot uses an eccentric cylindrical cam mechanism. The specialty of this mechanism is that it uses only two actuators to make the robot walk and even turn. Pro ENGINEER software is used for modeling of the spider robot and ADAMS software is used for simulation of the mechanism.

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来源期刊

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC)

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