仿生四足机器人运动学与动力学仿真分析

Dynamic Analyses and Simulation of the Bionic Quadruped Robotics

为了提高四足机器人的设计效率和设计的可靠性,缩短四足机器人研发周期,文章采用虚拟仿真技术对四足机器人进行仿真研究。文章对虚拟样机进行机构运动学与动力学分析,建立仿生四足机器人的运动学方程及拉格朗日动力学方程,利用三维建模软件pro/E建立实体模型导入到ADAMS中进行系统仿真,采用对角小跑步态,通过仿真结果验证了运动学和动力学数学建模的正确性,分析了影响机器人动态稳定性因素,为物理样机的设计提供了理论依据。

To improve the design efficiency and reliability of the quadruped robot,and shorten its development cycle,the thesis adopts virtual simulation technique to make a system simulation study for the quadruped robot. This paper has established Kinematic equations and Largrangian dynamics equations of the bionic quadruped robot by analysis of kinematics and dynamics of the virtual prototype. 3D model is built in the 3D modeling software,pro/E and then is downloaded to ADAMS. The solid model is built into the ADAMS for the system simulation study by using the three-dimensional modeling software pro/E. Considering the contact of the feet and the ground,the trotting gait is adopted. Through the simulation results,the correctness of kinematics and dynamics mathematical modeling is validated,and the factors influencing the dynamic stability of the robot are analyzed,providing a theoretical basis for the design of the physical prototype.