基于ADAMS的大壁虎地面爬行仿真

Simulation of Gecko Ground Crawl Based on ADAMS

为研究大壁虎在水平壁面上的爬行,建立了壁虎的多体系统动力学模型及脚掌与壁面之间的接触模型,并利用机械系统动力学软件ADAMS,对其在水平壁面上爬行的运动特性进行了仿真,得到了在对脚着地的半个周期内,壁虎模型整体质心的位移、各关节间角度、脚掌与壁面之间接触力及关节提供的转矩随时间的变化情况,为进一步研究壁虎在不同表面的爬行规律提供了参考,也为研制仿壁虎爬壁机器人的物理样机提供了理论依据.

In order to study the crawl of a gecko on horizontal surface, the dynamics model and contact model between the feet and the ground, are built. The kinematic characteristics of the crawling behavior of the gecko along the ground level are simulated using dynamics software ADAMS. The change of the displacement of centroid of the model, angles between joints, torques of joints and the contact force between the feet and the walls with time in a half period are emphatically analyzed. The result indicates that the model could move stably along the ground level. The change of the contact force is close to the experiment result. The study provides references for the research on the rule of gecko sprawl on different surfaces and the design of the gecko inspired climbing robot prototypes.