仿生六足机器人的运动分析及步态仿真  

Motion Analysis and Gait Simulation of Bionic Hexapod Robot

作　　者：贾亮 赵小溪 叶长龙 徐宏宇 JIA Liang;ZHAO Xiao-xi;YE Chang-long;XU Hong-yu(School of Information and Electronical Engineering Shenyang Aerospace University,Liaoning Shenyang 110131,China;School of Mechanical and Electronical Engineering Shenyang Aerospace University,Liaoning Shenyang 110131,China)

机构地区：[1]沈阳航空航天大学电子信息工程学院,辽宁沈阳110131 [2]沈阳航空航天大学机电工程学院,辽宁沈阳110131

出　　处：《机械设计与制造》2024年第7期351-355,共5页Machinery Design & Manufacture

基　　金：辽宁省自然科学基金(20180520033)。

摘　　要：为了增强机器人在各种环境下的灵活性,设计了一种仿生六足机器人。利用Creo2.0软件设计仿生六足机器人的三维模型,并将三维模型导入ADAMS软件中建立仿真模型。通过ADAMS软件对仿生六足机器人进行直行步态仿真分析和转弯步态仿真分析,结果证实了仿生六足机器人的运动状态稳定,验证了仿生六足机器人的结构合理性和设计的正确性及有效性。同时,为实现仿生六足机器人的制作与开发提供了理论基础,也为实现仿生六足机器人的精确控制创造了条件。To the flexibility of the robot in various environments,a bionic hexapod robot is designed.The Creo2.0 software is used to design a three-dimensional model of the bionic hexapod robot and imports the three-dimensional model into the ADAMS software to establish a simulation model.Using the ADAMS software,the linear gait simulation analysis and turning gait simulation analysis of the bionic hexapod robot are carried out.The results confirm that the motion state of the bionic hexapod robot is stable,and verify the rationality of the structure and the correctness and effectiveness of the design of the bionic hexapod robot.At the same time,they also provide a theoretical basis for the production and development of the bionic hexapod robot,and create conditions for the precise control of the bionic hexapod robot.

关 键 词：仿生六足机器人 ADAMS 步态仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]