基于虚拟样机技术的四足步行机的动力学建模与仿真

Dynamic Modeling and Simulation of Quadruped Robot Based on Virtual Prototyping Technology

步行机的能量消耗仿真分析是评估其能量消耗的方法之一,为设计能量消耗少的物理样机及其控制系统提供依据。在分析四足步行机的运动学和拉格朗日动力学方程基础上,采用虚拟样机技术建立了系统的考虑足与地面接触的三维仿真模型,并进行动力学分析和完整对角小跑步态周期中的能量消耗分析,获得步行机的动态特性。以移动能耗率为评价指标,仿真分析步行机在不同步行速度和步态参数下的能量消耗问题,建立步行机的移动能耗率与占地系数间的关系。同时对比分析了硬质地面和松软土壤地面模型的步行机足与地面间力学特性。

Simulation of energy consumption for walking robot is one of the ways to estimate the energy that will be consumed before constructing the real robot, and provides basis for the design of physical prototyping with less energy consumption and its control system. Based on the analysis of kinematics and Lagrange dynamics equations of quadruped walking robot, the 3D simulation model considering contact between foots and ground was proposed to analyze the simulation of dynamics and energy consumption of whole gait cycle and obtain the dynamic characteristics. Using specific resistance to evaluate energy efficiency of walking robot, the energy consumption during walking was analyzed with different walking velocity and duty factors, and the relationship between specific resistance and gait parameter was proposed. Meanwhile, the force characteristics were analyzed between foot and ground with rigid terrain and three soft soils.