基于Adams的六足直立式步行机器人运动仿真分析  

Kinematics Simulation Analysis of Six-legged Upright Walking Robot based on Adams

作　　者：张久雷 Zhang Jiulei(Department of Electrical and Mechanical Engineering,Guangdong Polytechnic,Foshan 528041,China)

机构地区：[1]广东职业技术学院机电工程系,广东佛山528041

出　　处：《机械传动》2020年第8期147-152,共6页Journal of Mechanical Transmission

基　　金：2019年广东教育科学规划课题《加强校内外大学生创新创业实践基地建设的研究》。

摘　　要：分析了一种以双电机为驱动力、以曲柄连杆机构为传动系统的六足直立式步行机器人的工作原理。首先,利用矢量解析法对步行腿机构建立相应运动数学模型并分析;再利用虚拟样机分析软件Adams对单侧步行腿机构进行运动轨迹建模仿真分析;最后,搭建实物样机验证了工作原理、方案设计、虚拟仿真结果的正确性和可行性。结果表明,步行腿机构的运动特性能够满足六足直立式步行机构的工作要求,设计方案可行,可为下一步的动力学分析和优化设计提供理论基础。The principle of a six-legged upright walking robot with dual-motor driven and crank connecting rod mechanism as driving system is analyzed.Firstly,by using the vector analytical method,the corresponding motion mathematical model of the walking leg mechanism is established and analyzed.Secondly,the motion trajectory modeling and simulation analysis of unilateral walking leg mechanism is carried out by using the virtual prototype analysis software Adams.Finally,a physical prototype is built to verify the feasibility and the correctness of the working principle,scheme design and virtual simulation results.The results show that,walking leg mechanism can meet to working requirements of six-legged walking mechanism,design scheme is feasible.The theoretical basis for the next dynamics analysis and optimization design is provided.

关 键 词：ADAMS 六足步行机器人 四连杆机构 运动学分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]