六足机器人动力学仿真研究

Study on Dynamics Simulation Hexapod Robot

针对在崎岖路面行走的六足机器人,本文利用Adams软件建立其刚体动力学模型,模拟运动过程中的动力学变化,分析不同工况对六足机器人关节驱动力矩的影响,得到前腿、中腿的髋关节、膝关节和踝关节的形状相似性,明确落地等因素对关节的影响,为六足机器人的后续研究提供一定依据。

Aiming at the hexapod robot walking on the rough road,this paper used Adams software to establish its rig⁃id body dynamics model,simulated the dynamic changes during the motion,and analyzed the influence of different working conditions on the hexapod robot joint driving torque,and obtained the shape similarity of the hip,knee and ankle joints of the front legs and middle legs,and clarified the impact of the landing and other factors on the joints,which provided a certain basis for the subsequent research of the hexapod robot.