基于MATLAB与ADAMS的双足步行机器人特性研究  

Research on Characteristics of Biped Walking Robot Based on MATLAB and ADAMS

作　　者：王继祥 王立华[1] 迟连坤 骆健 WANG Jixiang;WANG Lihua;CHI Liankun;LUO Jian(Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,China)

机构地区：[1]昆明理工大学机电工程学院,云南昆明650500

出　　处：《机械与电子》2018年第3期69-73,共5页Machinery & Electronics

摘　　要：以模块化类人机器人为研究对象,通过对其进行结构分析,建立数学模型,提出双足机器人的特性参数,设计稳定性函数和能耗函数。通过MATLAB与ADAMS相结合,计算出双足机器人在不同行走速度下和不同摩擦系数下的稳定性和能耗,采用单因素分析法对计算结果进行分析,得出双足步行机器人在不同工况下的稳定性和能耗变化。通过搭建双足步行机器人实验平台,测量双足步行机器人在不同工况下的能量消耗情况,与仿真计算结果进行对比分析,验证了稳定性函数和能耗函数的有效性,这可以作为改善和优化双足机器人结构和参数的依据。Taking the modular humanoid robot as the research object,this paper,on the basis of structural analysis,established a mathematical model and put forward characteristic parameters of the biped walking robot,design stability function and energy consumption function.Firstly,by the combination of MATLAB and ADAMS,the stability and energy consumption of the biped walking robot under different walking speed and different friction coefficient were calculated.Then,the results of the calculation were analyzed by using single factor analysis,from which the stability and energy consumption changes of the robot were obtained under different working conditions.Next,the experimental platform for the biped walking robot was set up to measure the actual energy consumption.Finally,the results from the experiment were compared and analyzed with the simulated results.The research verifies the validity of the stability function and the energy consumption function,which can serve as a basis for improving and optimizing the biped walking robot’s structure and parameters.

关 键 词：双足步行机器人 稳定性 稳定性建模 能耗建模 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]