基于ADAMS的双足机器人运动学建模及仿真

Kinematic Modeling and Simulation for Biped Robot Based on ADAMS

由于对环境良好的适应性,双足机器人在各领域具有广泛的应用前景,步态规划是其研究重点之一。基于虚拟样机技术,根据双足机器人的行走步态,用D-H齐次坐标变换法建立双足机器人的运动学模型。设定髋部及踝部的运动轨迹,建立逆运动学方程,在MATLAB中求出前向和侧向各关节的运动参数。将求得的参数导入ADAMS中,作为虚拟样机模型的驱动,实现了机器人的静态稳定行走。仿真结果与规划的步态基本一致,验证了运动学模型的正确性,为双足机器人的结构设计和步态规划提供了理论依据。

The biped robot has broad application prospects in various fields for its good adoptability to the environment,and gait planning is one of the focus of the research.Based on the virtual prototyping technology,according to the gait of the biped robot,the kinematic model was established by using the D-H homogeneous coordinate transformation.The hip＇s and ankle＇s motion trajectories were set,and the converse kinematic equations Were established.The forward and lateral joints ＇kinematic parameters were figured out in the MATLAB software.The parameters were imported into ADAMS,as the drive four the virtual prototyping model,so that the robot could walk steadily.The simulation results were basically the same with the planed gait,which verified the correctness of the kinematic model,so it can provide theoretical basis for the structure design and gait planning of the biped robots.