基于ADAMS平台的四足机器人越障仿真与测试

针对四足机器人在静步态行走过程中面对非平坦路面上障碍物的情况,提出一套完整的四足机器人翻越障碍物的步态理论分析方法,同时使用ADAMS虚拟样机软件对该步态进行运动仿真与测试。文中详细叙述了机器人膝关节与髋关节的运动轨迹规划,将规划的轨迹离散化后导入ADAMS和利用ADAMS/PostProcessor得到仿真测试结果。该研究通过虚拟样机平台弥补了前期客观条件限制下的测试局限,测试结果验证了四足机器人翻越障碍物的理论分析。四足机器人翻越障碍物的步态理论对未来四足机器人实物样机的设计和制造工作有着指导意义。

Simulation and Measurement for Quadruped Robot to Cross over Obstacles on ADAMS Platform

To analyze the situation of quadruped robot facing obstacles on irregular terrain in static walking, a usual obstacles-spanning method is expressed, and the ADAMS virtual prototype software is used to simulate the obstacles-spanning motion. Described in detail, the knee and hip joints of the robot trajectory are planned, the trajectory planning discretization is imported to ADAMS and the results of simulation and measurement are got by using ADAMS / PostProcessor. Some experiments which cannot be done with real prototype have been done with the vir-tual prototype created by us. Measurement results validate the theoretical analysis for the quadruped robot crossing over obstacles. It is useful for the future design and manufacture of quadruped robot physical prototypes.