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四足除草机器人的ADAMS与MATLAB联合仿真

卢衷正 戈振扬 丁巍

卢衷正, 戈振扬, 丁巍. 四足除草机器人的ADAMS与MATLAB联合仿真[J]. 机械科学与技术, 2016, 35(3): 375-380. doi: 10.13433/j.cnki.1003-8728.2016.0309
引用本文: 卢衷正, 戈振扬, 丁巍. 四足除草机器人的ADAMS与MATLAB联合仿真[J]. 机械科学与技术, 2016, 35(3): 375-380. doi: 10.13433/j.cnki.1003-8728.2016.0309
Lu Zhongzheng, Ge Zhenyang, Ding Wei. Co-simulating Quadruped Weeding Robot Using ADAMS and MATLAB[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(3): 375-380. doi: 10.13433/j.cnki.1003-8728.2016.0309
Citation: Lu Zhongzheng, Ge Zhenyang, Ding Wei. Co-simulating Quadruped Weeding Robot Using ADAMS and MATLAB[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(3): 375-380. doi: 10.13433/j.cnki.1003-8728.2016.0309

四足除草机器人的ADAMS与MATLAB联合仿真

doi: 10.13433/j.cnki.1003-8728.2016.0309
基金项目: 

国家自然科学基金项目(60971115)资助

详细信息
    作者简介:

    卢衷正(1989-),硕士研究生,研究方向为农业除草机器人,1015822753@qq.com

    通讯作者:

    戈振扬,教授,博士,ge.27@kmust.edu.cn

Co-simulating Quadruped Weeding Robot Using ADAMS and MATLAB

  • 摘要: 为进行非化学田间除草,设计了一种四足除草机器人。对该除草机器人进行虚拟样机建模和动力学仿真,目的是提高四足除草机器人设计的效率与可靠性。在ADAMS中建立四足除草机器人的机械动力学模型,并运用ADAMS与MATLAB/Simulink联合仿真技术对其参数进行控制中的参数整定。通过此方法,可以初步确定四足除草机器人在行走过程中的PID参数及所需要的驱动力。ADAMS和MATLAB/Simulink联合仿真方法面向多领域,仿真结果逼真并且接近实际系统,为四足除草机器人物理样机的研制提供依据,解决了传统设计过程中机械和控制系统不匹配问题。
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出版历程
  • 收稿日期:  2014-04-07
  • 刊出日期:  2016-03-05

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