Trajectory Optimization of Eight-link Mechanism for Legs of Walking Bio-robot
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...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.06.009 |
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| _version_ | 1841547434455465984 |
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| author | Zhang Chenxi Wu Shengquan He Yong Fu Chunping |
| author_facet | Zhang Chenxi Wu Shengquan He Yong Fu Chunping |
| author_sort | Zhang Chenxi |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-aa3a799e4b32439a925e153452bee615 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-aa3a799e4b32439a925e153452bee6152025-01-10T14:41:57ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-0142394329937168Trajectory Optimization of Eight-link Mechanism for Legs of Walking Bio-robotZhang ChenxiWu ShengquanHe YongFu ChunpingAiming 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.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.06.009Eight-link mechanismWalking bio-robotAdamsTrajectory optimization |
| spellingShingle | Zhang Chenxi Wu Shengquan He Yong Fu Chunping Trajectory Optimization of Eight-link Mechanism for Legs of Walking Bio-robot Jixie chuandong Eight-link mechanism Walking bio-robot Adams Trajectory optimization |
| title | Trajectory Optimization of Eight-link Mechanism for Legs of Walking Bio-robot |
| title_full | Trajectory Optimization of Eight-link Mechanism for Legs of Walking Bio-robot |
| title_fullStr | Trajectory Optimization of Eight-link Mechanism for Legs of Walking Bio-robot |
| title_full_unstemmed | Trajectory Optimization of Eight-link Mechanism for Legs of Walking Bio-robot |
| title_short | Trajectory Optimization of Eight-link Mechanism for Legs of Walking Bio-robot |
| title_sort | trajectory optimization of eight link mechanism for legs of walking bio robot |
| topic | Eight-link mechanism Walking bio-robot Adams Trajectory optimization |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.06.009 |
| work_keys_str_mv | AT zhangchenxi trajectoryoptimizationofeightlinkmechanismforlegsofwalkingbiorobot AT wushengquan trajectoryoptimizationofeightlinkmechanismforlegsofwalkingbiorobot AT heyong trajectoryoptimizationofeightlinkmechanismforlegsofwalkingbiorobot AT fuchunping trajectoryoptimizationofeightlinkmechanismforlegsofwalkingbiorobot |