基于虚拟样机的双足机器人步行联合仿真

Walking Simulation of Biped Robot Based on Virtual Prototype

为了提高双足机器人设计的效率与可靠性,利用机械系统动力学仿真软件ADAMS建立双足机器人的机械动力学模型,利用Matlab建立控制系统,通过ADAMS与Matlab的接口模块,实现了基于ADAMS与Matlab联合步行双足机器人仿真平台的建立.结果表明,仿真得出机器人在平地行走过程中各关节的力矩变化情况,获得了最高转速、有效转速、最大转矩、有效转矩等机器人运动的关键参数,为双足机器人物理样机的电机和减速器选型提供了理论依据.

In order to improve the efficiency and reliability of biped robot design, evaluate the validity of gait planning and control algorithm of biped robot, it is necessary to build a simulation system based on virtual prototype. The mechanical dynamic model of biped robot was built in ADAMS and the control systems were built in Matlab. Through interface module, the coordinated simulation of walking based on ADAMS and Matlab was realized. The collaborative simulation shows the peak point of the moment/angle/acceleration in each joint, through the multi-filed simulation, avoids heavy works of manual modeling, and offers important foundation for the study of biped robot.