摘要
本研究应用虚拟样机的设计方法,在仿真软件ADAMS中建立多关节型双足步行机器人下肢行走机构的参数化仿真模型,应用ADAMS软件下的五次插值函数对行走姿态进行了规划,添加外部环境参数进行仿真试验,通过分析仿真过程截图、关节位移曲线以及比对关节位移曲线和规划关节角,验证步态规划的有效性。后期物理样机输入运动控制程序进行现场实验,其结果与仿真结果基本一致,进一步验证了双足机器人三维仿真的正确性,说明本设计的机器人步态建模方法与行走仿真具有较强的工程实用性。
This research using the design method of the virtual prototype,a parameterized simulation model of the lower extremity walking mechanism of the multi-joint bipedal walking robot is established in ADAMS.The validity of gait planning is verified by adding external environment parameters to the simulation experiments,including the simulation process screenshots,joint displacement curves,and the comparison of joint displacement curves and planned joint angles.The results of the field experiment of the physical prototype input motion control program are basically consistent with the simulation results.The correctness of the three-dimensional simulation of bipedal robot is further verified.
作者
陈娜
卢威
Chen Na;Lu Wei(Department of Aviation maintenance Engineering,Zhangjiajie Institute of Aeronautical Engineering,Hunan Zhangjiajie427000)
基金
张家界航院科学研究项目“双足步行机器人的设计分析”(ZHKT2013-003)。
