基于虚拟样机技术的四足机器人结构设计

四足机器人属仿生机器人,产品设计要经过周而复始的设计-实物试验-再设计过程,才能达到要求的性能。本文采用虚拟样机技术对四足机器人进行结构设计,通过在虚拟样机系统中加入零件的物理信息(如材料种类、密度、关节摩擦,接触力等),在ADAMS环境下,对虚拟的四足机器人进行运动仿真。仿真试验发现机器人膝关节所受冲击力过大,因此改进方案,重新设计腿部结构。改后结构的仿真试验表明:新结构明显的减小了机器人运动中所受的冲击力,体现了虚拟样机技术在四足机器人结构设计与功能模拟一体化,便于提出优良设计方案的优势。

Structural Design of a Quadruped Robot by Virtual Prototyping Technique

We present the development of a quadruped biomimetic robot by virtual prototyping technology.Firstly,the dimension parameters of its stucture were designed according to its biomimetic structure,and then virtual prototype model was built in ADAMS/View.The physical information(material category,density,joint friction,contact force,etc.) was chosen for the virtual model,and the kinematics simulation is carried out.It is found by simulation analysis that the impact force exerted on the robot knee joint is too big so that the crus structure need to be improved.The crus structure was then redesigned.Simulation results indicate that the new structure obviously reduced the impact of the robot knee joint.