基于ADAMS的仿生六足机器人运动仿真  

Kinematics Simulation of Biomimetic Hexapod Robot Based on ADAMS

作　　者：陈波[1] 唐晶晶[1] 姜树海[1] 

机构地区：[1]南京林业大学智能控制与机器人技术研究所,江苏南京210037

出　　处：《计算机仿真》2012年第9期182-186,共5页Computer Simulation

基　　金：南京林业大学引进高层次归国人员及高层次人才基金项目(G2003-01);江苏省研究生科研创新计划项目(CX09S-012Z)

摘　　要：为研究仿生六足机器人的运动,根据六足甲虫的结构特点和运动特征,在不同运动形式下质心的位移、各关节的转矩等参数随时间的变化情况,利用三维建模软件SOLIDWORKS和机械系统动力学仿真软件与ADAMS联合建立仿生六足机器人的仿真模型,并对其进行直行和定点转弯运动仿真分析,通过对所得到的运动学和动力学数,验证了仿生六足机器人结构的合理性和运动的可行性,同时也发现了运动中存在的一些问题,为仿生六足机器人物理样机的研制提供了理论依据。In order to study the motion of the biomimetic hexapod robot, according to the structure and motion characteristics of the six-legged beetle, the simulated model of the biomimetie hexapod robot was built by three-di-mensional modeling software SOLIDWORKS. The straight walking and turning behavior of the biomimetic hexapod ro-bot were simulated using mechanical system dynamic simulation software ADAMS. The displacement of robot＇ s center of mass, torques of joints and other parameters were analyzed in different motion forms. The simulation study indi-cates that the structure design and motion planning are reasonable and also there are some problems in the design. The study provides some references for the design of the biomimetic hexapod robot prototypes.

关 键 词：仿生 机器人 六足 运动学 动力学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]