基于UG的双足步行机器人运动步态仿真分析  

Motion Gait Simulation Analysis of Biped Walking Robot based on UG

作　　者：易奥星 张宝 朱雪璇 黄卫阳 娄心安 徐辉平 赖子辉 YI Ao-xing;ZHANG Bao;ZHU Xue-xuan;HUANG Wei-yang;LOU Xin-an;XU Hui-ping;LAI Zi-hui(School of Mechanical and Electrical Engineering,Xinyu University,Xinyu Jiangxi 338004,China)

机构地区：[1]新余学院机电工程学院,江西新余338004

出　　处：《机械研究与应用》2023年第2期1-3,7,共4页Mechanical Research & Application

基　　金：江西省大学生创新创业训练计划项目:基于Arduino的双足步行机器人动作设计(编号:202111508002);江西省教育厅科学技术研究项目:不同加工参数对动态车削力频谱及时频特性的影响分析(编号:GJJ202307)。

摘　　要：为探究不同步态对双足步行机器人运动的影响,首先对双足步行机器人进行总体结构设计。该机器人整体由12个关节舵机驱动,关节带动其连杆执行相应的运动步态。然后利用UG软件对双足步行机器人进行三维建模及虚拟装配。最后通过设置运动驱动进行运动步态仿真,以检验设计方案的合理性。结果表明:不同的转动间隔和转动角度会对机器人运动过程中是否出现左右脚干涉现象产生影响,并通过调试得出最佳的转动间隔和转动角度,为今后的双足步行机器人动力学分析及实体模型的研制提供理论基础。In order to explore the influence of different gait on the motion of biped robot,firstly,the overall structure of biped robot is designed in this paper.The robot as a whole is driven by 12 joint actuators,which drived its linkage to execute corresponding gait.Then,the 3D design modeling and virtual assembly of biped robot are carried out by UG software.The gait simulation is carried out by setting the motion drive to verify the rationality of the design scheme.The results show that different rotation intervals and rotation angles will affect whether the left and right feet interfere with each other during the robot movement.The optimal rotation intervals and rotation angles are obtained through debugging,which provides a basis for dynamic analysis of the biped walking robots and development of the solid models in the future.

关 键 词：双足步行机器人 UG 三维建模 舵机驱动 运动步态仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]