| 四足机器人的腿部拓扑结构研究及其动力学仿真 |
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| 引用本文： | 常同立,和建增,郭志鹏.四足机器人的腿部拓扑结构研究及其动力学仿真[J].液压与气动,2018,0(12):60-64. |
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| 作者姓名： | 常同立 和建增 郭志鹏 |
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| 作者单位： | 东北林业大学机电工程学院， 黑龙江哈尔滨150040 |
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| 基金项目： | 黑龙江省工信委项目（GXW2010080）；黑龙江省教育厅课题资助（11553020） |
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| 摘 要： | 对一种四足机器人的腿部机构设计方法进行探究。简析哺乳动物腿部关节分布，确立了四足机器人拓扑结构与自由度数目，用拉格朗日方程对其动力学简略推导，并建立虚拟样机。借助ADAMS动力学仿真软件，验证四足机器人虚拟样机在起立过程和对角步态的动力学规律。
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| 关 键 词： | 四足机器人 动力学仿真 拓扑结构 ADAMS仿真 |
| 收稿时间： | 2018-03-31 |
Leg Topology of Quadruped Robot and Its Dynamics Simulation |
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| CHANG Tong-li,HE Jian-zeng,GUO Zhi-peng.Leg Topology of Quadruped Robot and Its Dynamics Simulation[J].Chinese Hydraulics & Pneumatics,2018,0(12):60-64. |
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| Authors: | CHANG Tong-li HE Jian-zeng GUO Zhi-peng |
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| Affiliation: | School of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin, Heilongjiang150040 |
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| Abstract: | We explore a method for designing leg mechanism of a quadruped robot. We establish a topology and degree of freedom of the quadruped robot by analyzing the distribution of mammalian leg joints. We briefly deduce the dynamics of the quadruped robot by the Lagrangian equation and build a virtual prototype. The dynamic rules of the quadruped robot virtual prototype in the process of rising and diagonal gait are verified through the ADAMS dynamics simulation software. |
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| Keywords: | quadruped robot dynamics simulation topology structure ADAMS simulation |
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