足履机器人的步行建模和运动仿真  

Walking Modeling and Motion Simulation of Foot Shoes Robot

作　　者：杜微[1] 门玉啄 陈光[1] 

机构地区：[1]长春工程学院,吉林长春130012

出　　处：《机床与液压》2015年第9期32-34,共3页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(51378075)

摘　　要：足履机器人设计成履带和腿式相结合的运动方式,兼具了履带和腿式机器人的共同优点。利用ADAMS建立每足三自由度的双足履带简化模型机器人,根据行走步态的特点,建立了合理的步行运动方程,使足端在运动起始点和终止点避免冲击,运动平稳,根据运动方程,可逆获得关节处的运动轨迹方程。利用ADAMS对双足履带机器人进行仿真,验证机构设计运动方案的可行性。Foot shoes robot is designed in the way of movement of track and leg combination,which possessed of both the common advantages of track and legged robots. The simplified model of biped robot of track for each foot in three degrees of freedom（ 3-DOF）was established by using ADAMS. According to the characteristics of walking gait,walking motion equation was established reasonably,the foot and toe movement were made in the starting point and ending point to avoid impact stably in motion. By the motion equation,the movement trajectory equation of joint was obtained reversibly. Simulation is carried out on the biped robot of track by using ADAMS,to verify the feasibility of movement mechanism design scheme.

关 键 词：足履机器人 行走步态 运动轨迹 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]