采用虚拟样机技术的四足机器人仿真研究

Simulation of a quadruped robot based on virtual prototyping technique

针对机器人抬腿和落腿时刻足端与地面冲击力过大的特点,建立了四足机器人的虚拟样机并进行仿真分析,对机器人的结构进行优化。通过对四足哺乳动物的结构分析,确定了四足机器人的结构框架;利用ADAMS软件建立四足机器人的仿真模型,并在仿真模型的基础上,分析机器人的运动特性,针对薄弱环节进行改进和验证,最终获得最优的结构设计方案。

As the impact between robot＇ s legs and the ground is too large while it lifting and downing, a quadruped mammal-like robot＇ s virtual prototype has been established and simulation analysis has been done to optimize the structure of the robot. Design the structure of a quadruped mammal-like robot by simplifying the structure of a quadruped mammal. Establish simulation model of a quadruped mammal-like robot using ADAMS, and analyze the robot kinematics based on the simulation model, improve and validate weaknesses, ultimately, obtain optimal structure of the final design. This method improved the robot design, and the movement characteristics of the robot can be known before the physical prototype is produced.