仿蟹机器人步态分析与仿真

Gait analysis and simulation of bionics crab-like robot with ADAMS

在仿蟹机器人的行走控制中,步态的选择对机器人的稳定快速行走具有至关重要的作用。本文对仿蟹八足机器人的基本步态进行了分类,并进一步对八足波形步态进行分析,得出八足步行机器人在采用双四足步态的行走方式时,既可以满足速度的要求,又可以保证机器人的稳定性。通过计算机软件ADAMS对所选步态进行全局仿真,结果验证了步态规划的合理性,同时得到了机器人相关物理量的变化曲线,为进一步选择电机,分析机器人系统的动态特性提供了依据。

In control of multilegged robot walking, the proper selection of the gaits plays an important role in the fast moving of the robot. After summing up the crab -like robot gait and analyzing the kind of waveform gait further, we can conclude that when the robot walking with double four-legged gaits, both requests of the speed and stability of the robot can be met. By using the ADAMS virtual prototype software to simulate the selected gait globally, the simulation verifies the rationality of the gait planning. Besides, the physical variable graph of related joint is obtained, and which can help to choose the suitable motors,and provide the gist for re searching the dynamic performance further.