基于多体动力学的六足机器人快速步态研究  

Study on fast gait of hexapod robot based on multi-body dynamics

作　　者：刘罡[1] 汪俊锋 LIU Gang;WANG Junfeng(School of Advanced Manufacturing Engineering,Hefei University,Hefei 230601,China)

机构地区：[1]合肥学院先进制造工程学院,安徽合肥230601

出　　处：《广西科技大学学报》2021年第2期51-57,共7页Journal of Guangxi University of Science and Technology

基　　金：安徽省科技重大专项(18030901009);安徽高校自然科学研究项目重点项目(KJ2019A0839);合肥学院科学研究发展基金项目(20ZR01ZDA)资助.

摘　　要：实现六足机器人步态控制的前提是能够准确进行步态建模.本文提出一种基于多体动力学的六足机器人三角步态仿真模型,该模型由Simulink中的SimMechanics模块所建立,主要包括力模型和控制器模型.力模型针对足和接触地面的作用力与反作用力,控制器模型用来模拟六足机器人在行走时具有仿昆虫的行走特征.本文选用昆虫常见的三角步态来进行仿真研究,该模型成功执行了六足机器人的步态,验证了模型的有效性.The premise of realizing gait control of hexapod robot is that it can accurately model gait.We propose a simulation model of hexapod robot triangular gait based on multibody dynamics.The model is established by the SimMechanics module in the Simulink,which mainly includes the force model and the controller model.Force and reaction force of force model against foot and contact ground is designed,and the controller model is used to simulate the walking characteristics of the hexapod robot when walking.In this paper,the common triangular gait of insects is selected for simulation.The model successfully performs the gait of hexapod robot and verifies the validity of the model.

关 键 词：多体动力学 动力学仿真模块 六足机器人 快速步态 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]