基于虚拟样机技术的四足机器人步态规划与仿真

Quadruped Robot Gait Planning and Simulation based on Virtual Prototype Technology

建立四足机器人质心与各关节角的关系,利用虚拟样机技术,通过质心轨迹来控制四足机器人的运动。首先,建立四足机器人质心与各关节角的运动学方程;然后,规划四足机器人的质心轨迹;最后,应用ADAMS建立虚拟样机模型,结合MATLAB对预定的质心轨迹进行联合仿真。通过对仿真结果中的机体位移、速度、关节转矩的响应曲线进行分析,并结合静力学仿真结果,对四足机器人的机构设计提出合理的简化方案。

The paper established relations of quadruped robot centers of mass with various joints angle, by using virtual prototyping technology, controlled quadruped robofs movements through the center of mass path. First established quadru- ped robot centers of mass with various joints angle kinematics equation, then planed quadruped robot＇s center of mass paths, finally, established the virtual prototype model by ADAMS, unified MATLAB to carry on the union simulation to the predetermined center of mass path. Through simulation resulfs organism displacement, the speed, the joint moment of force＇s response curve carried on the analysis, and combined with the static simulation results, proposed the reasonable reduction procedure to quadruped robot＇s organization designs.