摘要
参考仿生学原理,针对轮足式机器人的结构特点,对其进行了拓扑结构及运动学分析;采用正交试验的方法对腿长进行仿真分析,并基于能量消耗作为评价指标,得到了能量消耗最低的腿长组合。该结论为轮足式机器人腿长的尺寸确定提供了新的参考。
With reference to the bionic principle,the topology and kinematics of the wheel-footed robot were analyzed with reference to its structural characteristics;orthogonal experiments were used to simulate and analyze the leg lengths,and the combination of leg lengths with the lowest energy consumption was obtained based on energy consumption as the evaluation index.It provides a new reference for the determination of leg lengths of wheel-footed robots.
作者
张发光
李亭
李国华
范聪
Zhang Faguang;Li Ting;Li Guohua;Fan Cong(Shandong Guoshun Construction Group Co.,Ltd.,Jinan Shandong 250300)
出处
《机械管理开发》
2023年第2期10-13,共4页
Mechanical Management and Development
关键词
轮足式机器人
正交试验
能量消耗
组合
wheeled-footed robot
orthogonal experiment
energy consumption
combination
