Trajectory Optimization of Eight-link Mechanism for Legs of Walking Bio-robot

Zhang Chenxi; Wu Shengquan; He Yong; Fu Chunping

doi:10.16578/j.issn.1004.2539.2018.06.009

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Trajectory Optimization of Eight-link Mechanism for Legs of Walking Bio-robot

更新时间：2022-10-20

- Trajectory Optimization of Eight-link Mechanism for Legs of Walking Bio-robot
- Vol. 42, Issue 6, Pages: 39-43(2018)
- 作者机构：
  
  1. 南京理工大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.06.009
  CLC：
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[1]张陈曦,吴胜权,何永,傅春萍.仿生步行机器人腿部八连杆机构轨迹优化[J].机械传动,2018,42(06):39-43.

Zhang Chenxi, Wu Shengquan, He Yong, et al. Trajectory Optimization of Eight-link Mechanism for Legs of Walking Bio-robot. [J]. 42(6):39-43(2018)
[1]张陈曦,吴胜权,何永,傅春萍.仿生步行机器人腿部八连杆机构轨迹优化[J].机械传动,2018,42(06):39-43. DOI： 10.16578/j.issn.1004.2539.2018.06.009.

Zhang Chenxi, Wu Shengquan, He Yong, et al. Trajectory Optimization of Eight-link Mechanism for Legs of Walking Bio-robot. [J]. 42(6):39-43(2018) DOI： 10.16578/j.issn.1004.2539.2018.06.009.

摘要

针对一种仿生机器人腿部的八杆机构,通过研究机构运动时的轨迹建立优化设计的数学模型,以此提高机器人的步行速度、运动稳定性和越障能力。应用软件ADAMS建立机构的参数化模型,并进行多目标优化设计寻找最优解。根据优化结果,更改八杆机构参数重新仿真后,机器人腿部在一个运动周期内的速度、稳定性和越障等参数均得到提升,优化效果明显。可为同类机构的优化设计提供些许参考与借鉴。

Abstract

Aiming at an eight-link mechanism of bio-robot legs,the mathematical model of optimal design is established by studying the motion trajectory of the mechanism,which is in order to improve the walking speed,stability and ability to overcome obstacles of robot. The parameterized model of the mechanism is established by using the software ADAMS,and the software is also used for the multi-objective optimization design to find the optimal solution of mathematical model. Then,the optimization results of eight-link mechanism parameters are simulated again. The simulation results show that the parameters of speed,stability and obstacle crossing are improved in one movement cycle and the optimization effect is obvious. Some reference for the optimization design of the similar mechanism can be provided.

关键词

八杆机构步行机器人Adams轨迹优化

Keywords

Eight-link mechanismWalking bio-robotAdamsTrajectory optimization

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