摘要
以四足机器人为研究对象,利用SolidWorks建立四足机器人的简化模型,并利用MATLAB、ADAMS搭建联合仿真平台,采用联合仿真的方法,通过不断调整轨迹参数,实现了该机器人稳定的trot步态行走,验证该结构的合理性以及稳定性。通过联合仿真可以方便地进行参数优化,得到设计物理样机所需的数据,大大提高了设计效率。
Taking the quadruped robot as the research object,use SolidWorks to establish a simplified model of the quadruped robot,and use MATLAB and ADAMS to build a co-simulation platform.Use the co-simulation method to continuously adjust the trajectory parameters to realize the stable trot walking of the robot,and to verify the rationality and stability of the structure.Parameter optimization can be conveniently carried out through co-simulation,and the data needed to design the physical prototype can be obtained.
作者
吴浔炜
左鹏
Wu Xunwei;Zuo Peng(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《农业装备与车辆工程》
2021年第2期135-139,共5页
Agricultural Equipment & Vehicle Engineering
