一种移动机器人机构的建模和仿真研究

应用虚拟样机技术对移动机器人机构进行虚拟建模和动态仿真。运用SOLIDWORKS软件，采用模块化的设计方法，建立了移动机器人改进后的三维机构模型；运用虚拟样机仿真软件ADAMS针对改进后的二级减震机构进行动态仿真，并与改进前的一级减震机构仿真效果进行比较，结果表明二级减震机构比一级减震机构能够更加有效地解决四轮移动机器人轮胎与路面随时贴合问题，并具有很好的减震效果，增强了机器人的运动性能和环境适应能力。

Research on model and simulation for mobile robot mechanism

The application of the virtual prototype technology can create the virtual model and make the dynamic simulation for a mobile robot mechanism.An improving 3D mechanism model of the mobile robot is created using SOLIDWORKS and the modularization design method is adopted.The dynamic simulation for two levels shock absorber in the robot mechanism is made using ADAMS and the effect compares with the simulation effect of one level shock absorber before improving.The result shows that two levels shock absorber can solve the question of the joint between four wheels of the mobile robot and the ground at any moment more effectively than one level shock absorber and has better shock absorption effect，therefore makes the robot’s movement capability and adaptability on the environment more optimistic.