多足仿生行走机构单足动画仿真建模及实现

Animation Simulation Modeling and Programming for Single Foot of Bionic Walking Mechanism with Multi-foot

对多足仿生行走机构在行走时机架的间歇运动特点进行分析,指出其仿真建模关键是确定在足触地前主动件的对应转角区间并据此建立分段表达的该机构单足行走运动学方程,基于该方程使用MATLAB软件开发了相应的仿真程序,最后提出了数值图形仿真方法以检验前述方程和仿真程序的正确性,并结合实例阐述了该方法的可行性并给出了该机构在足着地而机架变速平移时使用该方法的验证结果。从而为该仿生行走机构的动力学仿真提供了理论和技术基础。

After the intermittent kinetic characteristic of the frame in reference to bionic walking mechanism with multi-foot is analyzed, it is indicated that the key of simulation modeling is ascertaining the angle interval of driving part before the foot touches the ground. According to this, the piecewise kinematic equation of its single foot throughout the periodic motion of the driving part was derived, and the corresponding simulation based on the equation was programmed by MATLAB software. After that, in order to verify the validity of the equation and the program, a numerical graphic simulation method was proposed. An example was given to illustrate its feasibility and convincing result was obtained when the frame was in state of non-uniform motion of translation. The investigation provides basis of theory and technology for dynamic simulation of the mechanism.