基于ADAMS的仿生四足机器人运动分析与仿真

Analysis and Simulation of Movement of Bionic Quadruped Robot based on ADAMS

在了解国外主要研究成果的基础上,对四足机器人的关键技术进行了总结与分析。运动控制是四足机器人设计的关键技术之一,运动分析是为设计灵活稳定的物理样机及步态规划提供依据。在分析了仿生四足机器人实现运动要求的基本姿态的基础上,设计仿生四足机器人的机械结构;利用ADAMS建立了系统的考虑仿生四足机器人足部与地面接触的仿真模型,对其进行步态规划,仿真获得了四足机器人的动态特性;根据仿真结果,判断了步态规划的正确性及其影响,分析了摆动腿与地面冲击加速度过大的原因并提出了优化方案。

Based on understanding the main foreign research results, the key technology of the quadruped robot is summarized and analyzed. Motion control is one of the key techniques in designing of quadruped robot; motion analysis is to provide the basis for the physical prototype design flexibility and stabihty, and gait planning. This article analyzed the basic attitude of bionic quadruped robot motion requirements; and designed mechanical structure of the robot; established the simulation model considering the contact of foot and ground by using ADAMS, and simulated to obtain the dynamic characteristics of quadruped robot. According to the simulation results, judged the correctness and its effect of the gait planning, analysis the reason of the swinging leg and ground shock acceleration is too large and put forward an optimization scheme.