8自由度四足机器人减振仿真研究

Simulation study on vibration isolation of an eight-degree-of-freedom quadruped robot

四足仿真机器人由于腿部结构的刚性连接特性,在行走过程中会产生振动冲击,影响行走的连贯性。文中建立了一种以四足动物为原型的机器人模型以探究抑制和缓解振动冲击的方法。采用ADAMS建立仿生四足机器人足部与地面接触的仿真模型,并对其进行步态规划,研究不同步幅下机器人的振动性能进而获取四足机器人的动态响应特征,验证了机器人步幅越小机器人行走越稳定的结论;在四足机器人小腿部位增加弹簧阻尼器进行减振方法研究,通过仿真结果得出在相同步幅下机器人的质心振动幅度减小了4.6 cm的结论,并对四足机器人组成的质量-弹簧-阻尼系统进行优化,为四足机器人的工程化应用奠定基础。

Due to the rigid connection characteristics of the leg structure of the quadruped simulation robot,vibration impact will occur during walking,which will affect the consistency of walking.In this paper,a robot model based on quadruped is established to explore the method of suppressing and mitigating vibration shock.The simulation model of bionic quadruped robot foot and ground contact is established by using ADAMS,and the gait planning is carried out.The vibration performance of the robot under different strides is implemented and the dynamic response characteristics of the quadruped robot is obtained.The conclusion that the smaller the stride of the robot,the more stable the robot walking is verified.The spring damper is added to the lower leg of the quadruped robot to study the vibration isolation method.The simulation results show that the vibration amplitude of the centroid of the robot is reduced by 4.6 cm under the same stride,and the mass-spring-damping system composed of the quadruped robot is optimized,which lays a foundation for the engineering application of the quadruped robot.