基于Pro/E和ADAMS的双足步行机器人三维造型及仿真

Three-dimensional modeling and simulation of biped walking robot based on Pro/E and ADAMS

随着科技的发展,机器人技术及仿真技术飞速发展。双足步行机器人相对于四足和多足机器人,其运动的稳定性和可靠性更难保证。现利用如今使用广泛、通用性强的Pro/E软件对人形机器人运动过程中最主要的支撑受力部位——腿部,进行三维的造型设计与装配,阐述其造型步骤及注意事项,并在零力矩判据下得出转动关节的转角值。为了更方便的研究机器人的稳定步行过程中各关节转角的插值,将腿部模型简化后倒入ADAMS中进行步行仿真实验,经观测其步行过程的平稳度,验证了关节转角插值的正确合理性。

With technological development, robotics and a simulated technology evolved. Both feet walk robot is opposite in four feet and the full robot, its movement＇s stability and the reliability are more difficult to guarantee. We are now use the widely and universality of the use of software robot Pro/E to wear the motion of the main parts of the support of the movement, a three-dimensional graphics design and assembly, the design process and attention, and the zero moments sentenced according to the turn of the capsules of the comer. For the better convenience of robots on the study of the stability of the joints in the comer of the value after the model simplify into adams in emulation, the observation experiments on their walk in the process of stable, verify that the joints in the right comer of the value of the plausibility