基于ADAMS的双足机器人建模与仿真  

Modeling and Simulation of Biped Robot Based on ADAMS

作　　者：梁青[1] 宋宪玺[1] 周烽[1] 王永[1] 

机构地区：[1]中国科学技术大学自动化系,安徽合肥230027

出　　处：《计算机仿真》2010年第5期162-165,238,共5页Computer Simulation

摘　　要：为了提高双足机器人的设计效率,可以通过虚拟样机技术对其进行设计与仿真。针对机器人设计双足行走步态,首先以实际的物理样机为原型,建立双足机器人的七连杆模型,并用解析法求得机器人的逆运动学模型;然后在ADAMS软件中建立参数化的虚拟样机模型,在Matlab软件中规划双足机器人在平地上的完整行走步态;最后将规划的步态导入ADAMS中,在虚拟样机上实现了双足机器人的行走仿真。仿真结果与规划的行走步态基本一致,验证了虚拟样机的有效性,从而为双足机器人的设计与步态规划提供了一种新的方法和可靠依据。In order to improve the efficiency of design of biped robot, the robot can be designed and simulated by virtual prototyping technology. Using the actual physical prototype as the model, a 7 -link biped robot was established, and its kinematic model was solved using analytical method. Then a parameterized virtual prototype was built in ADAMS, and an integrated walking gait on a flat for the biped robot was planned in Matlab. Finally a walking simulation has been realized on the virtual prototype of biped robot. The result of the simulation was basically the same as planned gait, which verified the effectiveness of virtual prototype.

关 键 词：双足机器人 虚拟样机 运动学仿真 步态规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]