基于ADAMS的液压驱动四足机器人步态规划与仿真

Gait Planning and Simulation of Quadruped Robot With Hydraulic Drive Based on ADAMS

为实现机器人的高负载、不平地面的高适应性运动要求,设计了一种液压驱动的四足机器人。分析了四足机器人的机械结构,机器人腿结构具有运动关节少、运动空间范围大特点,利用ADAMS规划设计了四足运动步态,并在ADAMS中进行动力学仿真。仿真分析了对角步态下机器人质心位移、液压缸驱动力以及与地面的接触力等参数,获得了液压缸工作流量、功率参数。仿真结果验证了机器人结构设计、步态规划的可行性,为液压缸、发动机选型提供了参考依据。

To realize the robot＇s high load and high adaptability of walking on the uneven ground,a hydraulic driven quadruped robot is designed,who has the structure of less leg joints and more motion spaces.On the base of analysis of the mechanical structure,a kind of diagonal gait is designed and the dynamic walking behavior of the quadruped robot on the ground is simulated using ADAMS.The displacement of the robot＇s center of mass,the hydraulic cylinder driving force as well as the contact force between the feet and ground,and other parameters are analyzed.Thus the hydraulic cylinder＇s work flow,power parameters are obtained.The simulation result verifies the feasibility of the gait planning and structure design,which provides references for the selection of hydraulic cylinder and engine.