仿生四足机器人的仿真研究  

Research on the Simulation of Bionic Quadruped Robot

作　　者：周立炜[1] 蔡芸[1] 

机构地区：[1]武汉科技大学机械自动化学院,湖北武汉430081

出　　处：《机械传动》2013年第9期30-33,共4页Journal of Mechanical Transmission

摘　　要：为了适应复杂多变的山地环境和载重要求,以生物马为原型设计了一种四足仿生步行机器人。首先在虚拟样机软件中建立结构模型,用虚拟样机技术对机器人的运动状态进行仿真和验证,通过改进符合哺乳动物运动规律的驱动函数以提高机器人的运动灵活性,使其达到设计的步速,然后使用有限元分析软件对其在所受最大冲击力处进行分析以验证结构的可靠性。In order to adapt the complex and changeable mountain environment and load requirement, a quadruped bionic walking robot is designed by taking the horse as prototype. First of all, the construction model is set up in the virtual prototyping software, the motion state simulation and verification are carried out by using virtual proto- typing technology. Through improving the driving function which accord with the movement law of mammal animal to improve the movement flexibility of robot and reach the design speed, and then, the analysis of the most impact force position is carried out by using finite element analysis software to verify the construction reliability.

关 键 词：仿生四足机器人 虚拟样机仿真 有限元分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]