一种四足机器人对角步态仿真分析

doi:10.16180/j.cnki.issn1007-7820.2020.05.006

摘要/Abstract

摘要：

仿生四足机器人因具有控制简单、多种路况适应性强、环境适应性强等优点而成为仿生学研究的焦点。文中针对四足机器人模型复杂性、对角步态难以控制等问题,搭建了四足机器人仿真平台。从SolidWorks中建立四足机器人模型,并获得其运动学方程。采用ADAMS和Simulink联合仿真的方法,实现了该机器人的对角行走。通过仿真可知机器人在7 s内前进距离约0.65 m,质心在垂直方向波动量较小,证明机器人能实现稳定运行,为机器人动力学和轨迹规划奠定了基础。

关键词: 四足机器人, 对角步态, ADAMS, Simulink, SolidWorks, 平稳运行

Abstract:

The bionic quadruped robot has become the focus of bionics research because of its simple control, strong adaptability to various road conditions, and environmental adaptability. Aiming at the complexity of quadruped robot model and the difficulty of diagonal gait control, a quadruped robot simulation platform was established in the proposed study. The quadruped robot model was built from SolidWorks and its kinematics equation was obtained. The diagonal walking of the robot was realized by the method of ADAMS and Simulink. The simulation showed that the robot had a forward distance of about 0.65 m in 7 s and a small amount of centroid fluctuation in the vertical direction, which proved that the robot could achieve stable operation and laid a solid foundation for robot dynamics and trajectory planning.

Key words: quadruped robot, diagonal gait, ADAMS, Simulink, SolidWorks, stable operation

中图分类号:

TP242.3

陈久朋,伞红军,张道义,胡琼琼,张凯翔,熊彬州. 一种四足机器人对角步态仿真分析[J]. 电子科技, 2020, 33(5): 33-38.

CHEN Jiupeng,SAN Hongjun,ZHANG Daoyi,HU Qiongqiong,ZHANG Kaixiang,XIONG Binzhou. Diagonal Gait Simulation Analysis of a Quadruped Robot[J]. Electronic Science and Technology, 2020, 33(5): 33-38.

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参数	单位/mm
机身长度	1 200
机身宽度	560
机身高度	735.5
大腿长度	530
小腿长度	320
地板	800×5 000