四足机器人翻滚运动力学分析及仿真  

Mechanics Analysis and Simulation to the Rolling Motion of Quadruped Robot

作　　者：苗新聪[1] 翟明敏[1] 乔静[1] 

机构地区：[1]西北工业大学机电学院,陕西西安710072

出　　处：《机械与电子》2012年第12期59-61,共3页Machinery & Electronics

摘　　要：设计了一种具有分段身体结构的四足机器人,通过合理设置身体各部分的协同运动,该四足机器人能够将身体折叠成圆盘状,能以静步态、对角步态进行四足行走,同时还能实现前向翻滚运动。分析了四足机器人调整重心,实现翻滚过程的力学过程。ADAMS动力学仿真的结果表明,此滚动运动模式运动平稳,具有较高的运动效率。A quadruped robot which has multi- link structure is developed. It could move the joints coordinately to transforms the whole body into a disk form. The robot could walk like a quadruped animal and also could perform rolling motion. A new rolling model is proposed and the mechanics is analysed. Using ADAMS software, we simulate the rolling motion of robot and the results present the method has high stabilization and high mechanical energy utilization efficiency.

关 键 词：四足机器人 翻滚运动 分段式结构 ADAMS仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]