仿生六足步行机器人步态轨迹的研究与仿真

Research and Simulation of the Walking Track of Bionic Hexapod Walking Robot

针对仿生六足步行机器人关节较多,其步态轨迹规划和关节控制量计算都较为复杂的现状,采用Solidworks软件与MSC.ADAMS软件相结合的方式对六足仿生步行机器人的样机模型进行了运动学仿真与分析。通过仿真,验证了所设计的三角步态的适用性和所选择的三次样条曲线作为机器人足端点轨迹曲线方案的可行性。详细阐述了六足仿生步行机器人轨迹仿真的原理、方法及过程,找到了一种在ADAMS环境下求解机器人逆解的方法,简化了理论计算,提高了设计效率。

As there are many joints in the bionic hexapod walking robot and the calculation of its walking track and joints control unit are comparatively complicated,the kinematical simulation and analysis of the model of bionic hexapod walking robot have been done by using solidworks and MSC.ADAMS.Through simulaton,the applicability of designed triangle gait and the feasibility of using thrice curve as the feet track are validated.And the principle,method and course of the track simulation of bionic hexapod walking robot are expatiated in detail.Thus a way for finding a converse answer of the robot on condition of ADAMS is found,so the theoretical calculation is simplified and the design efficiency is improved.