CN106777423A - A kind of robot running gear rigid multi-body dynamics emulation design method - Google Patents
A kind of robot running gear rigid multi-body dynamics emulation design method Download PDFInfo
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- CN106777423A CN106777423A CN201510805679.6A CN201510805679A CN106777423A CN 106777423 A CN106777423 A CN 106777423A CN 201510805679 A CN201510805679 A CN 201510805679A CN 106777423 A CN106777423 A CN 106777423A
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Abstract
The invention discloses a kind of robot running gear rigid multi-body dynamics emulation design method, comprise the following steps：The first step：Guideline and policy and step under ADAMS/VIEW have carried out research and analysis；Second step：Run duration to mechanism after robot running gear virtual prototype is imported is calculated；3rd step：The analysis of the walking mechanism motion simulation under trench, plateau obstacle is completed, the torque data born of mechanism's barycenter and swing arm and driving wheel in whole motion process are obtained；4th step：The tests study analysis that data are carried out, draw swing arm and driving moment in motion process with motion state and the relation that influences each other of inter-agency part, show that designed walking mechanism can complete expected design function.Robot running gear rigid multi-body dynamics emulation design method of the invention, the whole data result for emulating provides important reference for later optimization design.
Description
Technical field
The present invention relates to a kind of Robot Design method, and in particular to a kind of robot running gear rigid multi-body dynamics emulation design method, belong to smart electronicses product technical field.
Background technology
In robot running gear selection at home and abroad,Representative mainly has wheeled,Leg formula,Several walking mechanisms such as crawler type,It is different according to use occasion,Again multiple wheels are taken turns to from 3,Many leg formulas,Two crawler belts are to a plurality of crawler belt,Wheeled locomotion mechanism can reach movement velocity higher,Wheeled efficiency highest,Gait of march is fast,Turn to flexible,And it is cheap,The characteristics of part changes rapid after going wrong,In addition,On the ground of relatively flat,The existing quite preferable advantage of wheel type mobile,Control is also relatively easy,Wheeled locomotion mechanism is now using quite extensive,It is one of travel mechanism the most thorough of research at present,Traditional wheel type traveling mechanism has three-wheel,Four-wheel,The mechanism form of six wheels,Especially six wheel mechanisms are the obstacle detouring patterns of current extensive utilization,Comparatively,Wheeled locomotion mechanism also has the shortcomings that very big,Aiming at the requirement on road surface,Due to small with contact area of ground,Depression and skidding are susceptible on the less soft road surface of soil pressure ratio or wet and slippery road surface,These are all that ratcheting mechanism function under most of field complex environments is restricted,For many landform adaptability of raising wheel type traveling mechanism and its by property,Malformation is carried out on traditional wheel type traveling mechanism,Occur in that four-wheel adds front and rear pendulum,Six wheels plus front and rear pendulum,The walking mechanism with many landform adaptability such as planet gear type,The robot of early stage is less demanding to road conditions,Therefore wheeled advantage is given full play of,Under the prevailing roadway environment in city,The robot walking mechanism that ratcheting mechanism strictly meets the most,But its shortcoming is also apparent,It is exactly too high to the dependence of smooth landform,Adaptability is low,Particularly in the case of Special Road,Harsh conditions such as cat ladder,Climbing etc.,It is wheeled to be all competent at.
The content of the invention
（One）The technical problem to be solved
To solve the above problems, the present invention proposes a kind of robot running gear rigid multi-body dynamics emulation design method, robot completes the task of complexity in unstructured moving grids, can be across obstacles such as step, trenches, with climbing capacity, can be walked with speed faster on straight trip road surface, the whole data result for emulating provides important reference for later optimization design.
（Two）Technical scheme
Robot running gear rigid multi-body dynamics emulation design method of the invention, comprises the following steps：
The first step：Guideline and policy and step under ADAMS/VIEW have carried out research and analysis；
Second step：Run duration to mechanism after robot running gear virtual prototype is imported is calculated；
3rd step：The analysis of the walking mechanism motion simulation under trench, plateau obstacle is completed, the torque data born of mechanism's barycenter and swing arm and driving wheel in whole motion process are obtained；
4th step：The tests study analysis that data are carried out, draw swing arm and driving moment in motion process with motion state and the relation that influences each other of inter-agency part, show that designed walking mechanism can complete expected design function.
（Three）Beneficial effect
Compared with prior art, robot running gear rigid multi-body dynamics emulation design method of the invention, robot completes the task of complexity in unstructured moving grids, can be across obstacles such as step, trenches, with climbing capacity, can be walked with speed faster on straight trip road surface, the whole data result for emulating provides important reference for later optimization design.
Specific embodiment
A kind of robot running gear rigid multi-body dynamics emulation design method, comprises the following steps：
The first step：Guideline and policy and step under ADAMS/VIEW have carried out research and analysis；
Second step：Run duration to mechanism after robot running gear virtual prototype is imported is calculated；
3rd step：The analysis of the walking mechanism motion simulation under trench, plateau obstacle is completed, the torque data born of mechanism's barycenter and swing arm and driving wheel in whole motion process are obtained；
4th step：The tests study analysis that data are carried out, draw swing arm and driving moment in motion process with motion state and the relation that influences each other of inter-agency part, show that designed walking mechanism can complete expected design function.
Embodiment described above is only that the preferred embodiment of the present invention is described, and not the spirit and scope of the present invention are defined.On the premise of design concept of the present invention is not departed from; the all variations and modifications that this area ordinary person makes to technical scheme; protection scope of the present invention all should be dropped into, claimed technology contents of the invention have all been recorded in detail in the claims.
Claims (1)
1. a kind of robot running gear rigid multi-body dynamics emulation design method, it is characterised in that：Comprise the following steps：
The first step：Guideline and policy and step under ADAMS/VIEW have carried out research and analysis；
Second step：Run duration to mechanism after robot running gear virtual prototype is imported is calculated；
3rd step：The analysis of the walking mechanism motion simulation under trench, plateau obstacle is completed, the torque data born of mechanism's barycenter and swing arm and driving wheel in whole motion process are obtained；
4th step：The tests study analysis that data are carried out, draw swing arm and driving moment in motion process with motion state and the relation that influences each other of inter-agency part, show that designed walking mechanism can complete expected design function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510805679.6A CN106777423A (en) | 2015-11-20 | 2015-11-20 | A kind of robot running gear rigid multi-body dynamics emulation design method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510805679.6A CN106777423A (en) | 2015-11-20 | 2015-11-20 | A kind of robot running gear rigid multi-body dynamics emulation design method |
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| CN106777423A true CN106777423A (en) | 2017-05-31 |
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| CN201510805679.6A Pending CN106777423A (en) | 2015-11-20 | 2015-11-20 | A kind of robot running gear rigid multi-body dynamics emulation design method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109933810A (en) * | 2017-12-15 | 2019-06-25 | 中国航空工业集团公司成都飞机设计研究所 | A kind of three-dimensional maintenance simulation model construction method based on operating unit |
-
2015
- 2015-11-20 CN CN201510805679.6A patent/CN106777423A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109933810A (en) * | 2017-12-15 | 2019-06-25 | 中国航空工业集团公司成都飞机设计研究所 | A kind of three-dimensional maintenance simulation model construction method based on operating unit |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170531 |
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| WD01 | Invention patent application deemed withdrawn after publication |