基于ADAMS的四足机器人运动仿真研究

Research on motion simulation of a four-legged robot based on ADAMS

作为工业机器人的一个主要研究分支,多足机器人具有很强的环境适应性和运动灵活性,正在日益受到重视。应用三维建模软件UG建立了四足机器人的模型,导入到虚拟样机分析软件ADAMS中生成虚拟样机模型,并对四足机器人进行了步态规划,利用MATLAB计算得到机器人关节运动轨迹,导入到ADAMS中,模拟了机器人的实际运动状态,得到其爬行轨迹。利用虚拟样机进行仿真为多足机器人步态规划的研究提供了一种良好的试验方法。

As a major branch of industrial robots,multi-legged robots are getting more attention because of their strong environmental adaptability and exercise flexibility.In this paper,a model of a four-legged robot is established in UG,which is imported as a virtual prototype into the simulation software ADAMS.The gait of the four-legged robot is planned and the motion curves of joints got from MATLAB are applied on joints control in the virtual prototype model.The actual motion state of the robot is simulated and the trajectory curves are obtained.Virtual prototype simulation provides a good test method of the gait planning for multi-legged robots.