摘要
由于机器人数学描述的复杂性,使得在机器人运动学、动力学分析方面显得较为困难,计算机虚拟仿真技术在该领域的应用为机器人的运动特性分析提供了依据。文中建立了一个连续转动式腿机构的四足步行机器人模型,并规划了该机器人的一种直线爬行步态,利用ADAMS虚拟样机软件对机器人的爬行步态进行了动力学仿真,得到了机器人各个关节相关物理量的变化曲线,分析了四个髋关节的驱动力矩在步行过程中的变化情况。通过仿真,验证了步态规划的合理性,同时为进一步选择电机、分析机器人系统的动态特性提供了依据。
It seems more difficult to analyze the dynamic character of walking robot because of the complexity of mathematical description. The virtual computer simulation technology applied to this field can provide the basis for dynamic character analysis. In this paper, a quadruped robot model is created and programmed a crawl gait is programmed. By useing the ADAMS virtual prototyping software, the process of crawl walking gait is simulated and the physical variable graph of coax joint is obtained. The four pelvic joints driven moment in the course of walking process is analyzed. By comparing with the theory and the simulation result, the truth of the program is validated, which could help us to choose the suitable motors, and offer the gist for researching the dynamic performance further.
出处
《计算机仿真》
CSCD
2007年第4期172-175,共4页
Computer Simulation
