Publication: Estudio del deslizamiento del robot Pasibot
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2011-05
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2011-05-09
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Abstract
Este proyecto tiene dos objetivos claros. Basándose en los modelos del Robot PASIBOT proporcionado por el grupo MAQLAB de la Universidad Carlos III de Madrid, el principal objetivo es obtener dos coeficientes de rozamiento que limiten distintas zonas de deslizamiento del pie de apoyo del Robot cuando camina. El primer coeficiente limita la zona de deslizamiento continuo de la zona de deslizamiento discontinuo y el segundo coeficiente limita la zona de deslizamiento discontinuo de la zona de deslizamiento nulo. El segundo objetivo, mediante el estudio del objetivo principal en Working Model 2D y en MSC.Adams, es realizar una comparativa entre los dos programas en lo que respecta al deslizamiento del bípedo PASIBOT, que ayudaría a determinar cuál de los dos programas obtiene unos resultados más veraces. _____________________________________________________________________________________________________________
This project has two clear objectives. Based on models of the Robot PASIBOT that group MAQLAB have given me by Carlos III University of Madrid, the main objective is to obtain two coefficients of friction that limit different sliding areas suffering the Robot´s feet when it is walking. The first coefficient of friction limits the continuous sliding zone of the discontinuous sliding zone and the second coefficient of friction is limiting the discontinuous sliding area of the zone of zero slip. The second objective, by studying the main objective in two programs: Working Model 2D and MSC.Adams, is to make a comparison between the two programs in terms of bipedal PASIBOT slip, which would help to determine which of the two programs get more accurate results.
This project has two clear objectives. Based on models of the Robot PASIBOT that group MAQLAB have given me by Carlos III University of Madrid, the main objective is to obtain two coefficients of friction that limit different sliding areas suffering the Robot´s feet when it is walking. The first coefficient of friction limits the continuous sliding zone of the discontinuous sliding zone and the second coefficient of friction is limiting the discontinuous sliding area of the zone of zero slip. The second objective, by studying the main objective in two programs: Working Model 2D and MSC.Adams, is to make a comparison between the two programs in terms of bipedal PASIBOT slip, which would help to determine which of the two programs get more accurate results.
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Robótica, Robots humanoides