基于RecurDyn的四履带足机器人运动学仿真

Kinematics Simulation of the Robot with Four Tracked Feet based on RecurDyn

应用多体动力学仿真分析软件RecurDyn对四履带足机器人进行全三维建模及越障过程仿真,并分析了履带机器人行走过程中的力学模型,仿真结果动态,准确的反映了四履带足机器人行走机构的越障过程,验证了四履带足机器人行走机构较之双履带结构形式出色的越障能力,体现了RecurDyn软件在履带机器人的动力学仿真分析方面的有效性和优越性。

This paper built the model of four tracked feet robot and simulate its obstacle negotiation using multi-body dynamic software RecurDyn, analysis its mathematics model of moving , the simulation result described the process of obstacle negotiation dynamically , proved the robot’s capability of obstacle negotiation, and the advantage of RecurDyn in robotic dynamic simulation.