Jixie chuandong (Jan 2018)
Trajectory Optimization of Eight-link Mechanism for Legs of Walking Bio-robot
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.
