The invention discloses an optimization test method and an optimization test platform for a foot structure of a bionic robot. The method comprises the following steps: establishing a soil mathematical characterization model, and determining optimal motion modes of different terrains; building an optimization test platform, and testing the soil mathematical characterization model based on the optimal motion mode to obtain model test data; optimizing and designing a foot structure of the bionic robot according to model test data; testing the foot structure of the bionic robot in the optimization test platform, and capturing platform test data; platform test data are analyzed, and whether the foot structure of the bionic robot reaches the standard or not is judged. The problem that an existing bionic robot cannot work for a long time on the complex multi-habitat terrain (gravel/marsh/shoal/water surface) is solved, and meanwhile a reasonable solution is provided for the problems that the design condition of the foot end structure of the existing bionic robot is harsh, and the design process is difficult.
本发明公开了一种仿生机器人足部结构优化测试方法及优化测试平台。涉及机器人技术领域,包括:建立土壤数学表征模型,明确不同地形的最优运动模式;搭建优化测试平台,基于最优运动模式,对土壤数学表征模型进行测试,得到模型测试数据;根据模型测试数据优化并设计仿生机器人足部结构;在优化测试平台中对仿生机器人足部结构进行测试,捕捉平台测试数据;分析平台测试数据,判断仿生机器人足部结构是否达标。本发明克服了目前仿生机器人不能在复杂多栖地形(砂石/沼泽/浅滩/水面)上长期工作的情况,同时针对目前仿生机器人足端结构设计条件苛刻、设计过程困难的情况提供了合理的解决方案。
Optimization test method and optimization test platform for foot structure of bionic robot
一种仿生机器人足部结构优化测试方法及优化测试平台
2024-02-20
Patent
Elektronische Ressource
Chinesisch
IPC: | B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge / G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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