基于虚拟样机技术的双足机器人运动仿真研究

Research on Motion Simulation of Biped Walking Robot Based on Virtual Prototype Technology

应用三维建模软件SolidWorks建立了HIT-ROBOCEAN双足机器人的简化模型,导入虚拟样机仿真分析软件Adams中生成虚拟样机模型,并通过在科学计算软件Matlab中得到的机器人行走步态的关节运动轨迹对虚拟样机模型进行控制,通过联合仿真获得机器人行走步态的三维仿真动画,并利用该虚拟样机模型对机器人行走步态进行运动学及动力学分析。为双足机器人步态规划的研究提供了一种新的方法。

The robot＇s walking gait simulation was performed utilizing the virtual prototype technology, A simplified model of the robot was established in SolidWorks, which was imported as a virtual prototype into the simulation software Adams. The motion curves got from Matlab were applied on joints control in this virtual prototype model. The joint simulation experiments could give the 3-D dynamic pictures and relevant experimental data through kinematics and dynamics analysis, which offered a new method of the walking gait planning for biped robot.