基于刚柔耦合的四足机器人动力性能研究

Study on dynamic performance of quadruped robot based on rigid flexible coupling

利用刚柔耦合动力学仿真分析方法对四足机器人进行研究。建立柔性体模型,利用ANSYS与ADAMS软件建立四足机器人刚柔耦合动力学模型,分析弹性变形仿真与纯刚体仿真两种情况下对机器人行走步态产生的影响;同时重点分析机器人行走过程中的应力应变。结果表明刚柔耦合建模与实际情况更加相近,更加真实地反映出了机器人的工作性能,为四足机器人进一步的步态规划、结构设计与优化提供了重要依据。

Studied a dynamics simulation analysis method for a rigid-flexible coupling system of quadruped robot. Established the flexible body model, quadruped robot rigid-flexible coupling dynamic model is established by ANSYS and ADAMS and analyzed the effect of elastic deformation simulation and rigid body simulation on the robot walking gait. In addition, analyze the robot walk- ing in the process of stress and strain. Results show that the rigid-flexible coupling model and the actual situation more similar, more realistic reflection of the working performance of the robot, which provides an important basis for further gait planning, struc- ture design and optimize of the quadruped robot.