基于Pro/E和ADAMS的双足步行机器人造型及仿真研究  

Modeling and simulation study on biped walking robot based on Pro/E and ADAMS

作　　者：韩庆瑶[1] 赵怡[1] 朱晓光[1] 

机构地区：[1]华北电力大学机械工程系,保定071003

出　　处：《机械设计与制造》2011年第8期148-149,共2页Machinery Design & Manufacture

基　　金：国家自然科学基金项目(60974125)

摘　　要：对步行机器人的双足进行了三维造型及运动仿真研究。首先利用通用软件Pro/E对人形机器人支撑受力部位腿部进行了三维造型的设计与装配,并在相应软件中检测了装配的正确性及精确度。然后根据ZMP稳定判据分析得出机器人步行的稳定性条件,最后将腿部模型其导入ADAMS中并对其进行了步行运动仿真。研究结果表明,所设计的步行机器人双足关节转角插值正确合理、无干涉,能够较好满足双足机器人的步行需要,论文成果具备一定参考价值和积极意义。A three dimensional modeling for a walking robot＇s feet and movement simulation research has been done it.First the three dimensional modeling design and assembly for the humanoid robot＇s legs is carried out with the common software Pro/E and the correctness and accuracy is tested in corresponding software.Then the stability of walking conditions is analyzed and obtained according to the robot ZMP stability criterion.Finally the legs model is imported to ADAMS and the walking motion is simulated,which result shows that the walking robot with its feet joints corner interpolated properly can better satisfy biped robot＇s walking requirement and it＇s valuable in reference with positive significance.

关 键 词：PRO/E ADAMS 运动仿真 约束条件 转角 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]