四足机器人的步态仿真研究

The virtual simulation of four-footed robot based on the software of ADAMS

在对一种四足机器人的设计和步态规划后,通过仿真技术分析它的适应环境能力和承载能力。在四足步行机器人初始结构参数基础上,用三维软件Pro/E建立机器人仿真模型。该机器人的摆动腿是一种串联机构,在行走过程中,每个腿起到摆动前进和支撑的作用。将模型导入仿真软件完成行走过程,以稳定性为评价指标对机器人进行优化和评价,最后在一定路面上进行一定量的承载和适应环境方面的分析,为智能化机器人提供一种分析方式。

A four-footed robot is designed and its crawl gait is programmed, carrying capacity and suitable environmental ability have been analyzed by way of simulation technology. On the base of initiative structural parameter of the four-footed walking robot,3D robot simulation model is made by the software of Pro/E, during the course of its walking, the swing legs form a serial structure, every leg is used to support weight and step forward. The model is put in the software of ADAMS to achieve the walk by adding restrictions and dynamical analysis using a series form of pace analysis. The robot structure is optimized with flexibility as the evaluation criterion, through the analysis of stability and the influence of every part＇s motion which brought in the process of robot walk on a kind of pavement structure, which provides academic help for the research of intellectualized robot.