应用契贝谢夫四杆机构的四足机器人仿真分析

The Simulation Analysis of the Quadruped Robot used Chebyshev four-bar linkage

通过SolidWorks软件建立契贝谢夫四杆机构的三维模型,对运动轨迹进行拟合,确定出较适合进行步行的运动轨迹。在此基础上,创建四足机器人模型并导入ADAMS以添加对应的约束,然后在理论悬空时和实际接触地面时两种情况进行仿真、图表处理,最后得到足的运动轨迹、加速度和动能变化曲线。这些曲线分析的结果证明了契贝谢夫四杆机构应用四足机器人的可行性。可见,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。

SolidWorks software was used to establish the three-dimensional model of the four-bar chebyshev mechanism, and the motion trajectory was fitted to determine the motion trajectory suitable for walking.On this basis, a four-legged robot model was created and imported into ADAMS to add corresponding constraints. Then, simulation and graph processing were carried out in both theoretical suspension and actual contact with the ground. Finally, the trajectory, acceleration, and kinetic energy change curves of the foot were obtained.The results of the curve analysis prove the feasibility of the four-legged robot applied to the four-bar mechanism of chebyshev.It can be seen that simulation with virtual prototype provides a g ood experimental method for gait planning of multi-legged robot.