两栖复合腿机器人运动仿真及能耗分析

Motion Simulation and Energy Consumption Analysis of Amphibious Compound Legs Robot

对水陆两栖复合腿机器人进行运动仿真及能耗分析。设计一种弧形腿与桨结合的两栖六足机器人,研究其地面三角步态行走机制,提取腿部转动关节运动模型。分析机器人能源消耗组成部分,简化得到其单周期能耗计算模型。构建9种不同腿长参数的机器人三维模型,在ADAMS软件中设置规划的转动关节轨迹,实现运动仿真。提取仿真后的电机力矩,计算一周期的能耗并进行分析。结果表明:适当减小机器人腿长参数可提高能源利用效率,这对提升腿式机器人整体性能具有一定的参考意义。

The motion simulation and energy consumption analysis of the amphibious compound legs robot were carried out.An amphibious hexapod robot with curved leg and paddle was designed,and the walking mechanism of its ground triangle gait was analyzed and the motion models of the legs rotation joint were extracted.The energy consumption composition of the robot was analyzed,and the single cycle energy consumption calculation model was obtained by simplifying.Nine kinds of robot 3D model with different leg length parameters were constructed,and the planned revolute joint trajectory was set up in ADAMS software to realize motion simulation.The simulated motor torque was extracted,and the energy consumption in one cycle was calculated and analyzed.The results show that the energy utilization efficiency can be improved by appropriately reducing the legs length parameters of the robot,which has certain reference significance for improving the overall performance of the legged robot.