基于ADAMS的双半转腿式机器人虚拟仿真  

Virtual Simulation of Double-half-rotation Legged-robot Based on ADAMS

作　　者：徐学坦 汪永明[1] 韦强 叶俊[1] XU Xuetan;WANG Yongming;WEI Qiang;YE Jun(School of Mechanical Engineering,Anhui University of Technology,Ma’anshan 243032,China)

机构地区：[1]安徽工业大学机械工程学院,安徽马鞍山243032

出　　处：《安徽工业大学学报（自然科学版）》2018年第1期50-54,共5页Journal of Anhui University of Technology（Natural Science）

基　　金：安徽省高校自然科学研究重大项目(JK2015ZD11);国家级大学生创新创业训练计划项目(201410360027)

摘　　要：提出一种带辅助支撑轮的双半转腿式机器人,该机器人主要由车体支架、两条轮腿、轮腿支架、辅助支撑杆和滚动轮等组成。在ADAMS仿真软件中建立该机器人的虚拟样机模型,设定各腿杆之间的约束关系以及各跨步腿杆与路面之间的三维碰撞属性,且根据各腿杆的运动耦合关系,设定机器人各关节驱动舵机的转速。针对机器人平地行走情况,在ADAMS中进行虚拟仿真分析,得到该机器人的车体支架质心位移、速度和加速度随时间变化曲线,及跨步腿杆及辅助支撑轮在平地行走过程中所受的地面接触力。结果表明,该机器人的车体垂直起伏度较小,辅助支撑杆部分设置的弹簧具有一定的减震效果。A double-half-rotation legged-robot with auxiliary supporting wheel was proposed.It was mainly composed of one body bracket,two wheel-legs,some wheel-leg brackets,auxiliary supporting rods and rolling wheels.The virtual prototype model of the robot was established with ADAMS simulation software,the constraints among the leg-rods,the three-dimensional collision attributes between the leg-rods and the road surface were set,and the rotate speed of each joint was also set according to the kinematic coupling of each leg.Aiming at the condition of robot walking on flat ground,the curves of displacement,velocity and acceleration of the body bracket centroid with time were achieved by virtual simulation analysis with ADAMS,and the contact force between the wheel-leg and the ground was also obtained.The results show that the robot has a relatively small fluctuation in vertical direction,and the springs arranged at the auxiliary supporting rod are effective on vibration reduction.

关 键 词：腿式机器人 二级半转机构 虚拟样机 仿真 接触力 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]