四足机器人的动力学分析与仿真

Dynamic analysis and simulation on quadruped robot

针对四足机器人的结构特点,利用拉格朗日法导出其简化结构多刚体系统的动力学方程组.同时利用ADAMS建立了四足机器人的虚拟样机,采用规划好的步态,对其进行动力学仿真.仿真结果验证了动力学数学建模的正确性及结构设计的可行性,为提升控制品质的后续研究工作提供有价值的数据信息.

Based on the structural characteristics of quadruped robot, dynamic equation group for simplified- structure of the quadruped robot＇s multi-rigid body system is educed using Lagrange principle. A virtual proto- types is established using ADAMS, and simulated in using its planned gait. Simulation results tested the exactness of dynamics model and the rationality of structure design as well as provide valuable data information for further research on improving control quality of the quadruped robot.