六足机器人全局运动动力学仿真.pdfVIP

第23卷 第1期 郑州轻 工业学院学报 (自然科学版 ) Vo1．23 No．1 2008年2月 JOURNAL OF ZHENGZHOU UNIVERSITY OF HGHT INDUSTRY(Natural Science) Feb．2008 文章编号：1004—1478(2008)O1一OO44—04 六足机器人全局运动动力学仿真 陈鹿民， 张存鹰， 谢 烽 (郑州轻2-_业学院机电2-_程学院，河南郑州450002) 摘要：为改进所研制的六足步行机器人的机构和控制等设计，提高其步行运动的稳定性和精度，首先 进行步态规划和求解各关节运动；其次将三维实体模型导入Adams软件，应用力约束建立腿与地面 的动态接触碰撞模型，形成机器人的动力学全局仿真模型；然后采用HHT积分方法进行动力学仿 真，对比研究了步行机器人做匀速运动和加速运动时地面对腿的冲击以及电机驱动力矩和关节约束 力矩的变化情况．结果表明：采用不同的运动步态对动态性能影响较大，可以有效地改善运动稳定 性．该方法对腿足式机器人设计及动态性能研究具有重要的指导意义． 关键词：六足步行机器人；运动规划；碰撞模型；动力学仿真 中图分类号：TH113．22；TI~42．3 文献标识码：A Dynamics simulation of hexapod robot global motion CHEN Lu—min， ZHANG Cun—ying， XIE Feng (College ofMech．and Electr．Eng．，Zhengzhou Univ．ofLight Ind．，Zhengzhou 450002，China) Abstract：To improve the design of machine and controlling of the hexapod and increase the stability and precision of locomotion，first，the gait was planed and the joints’motion is solved．Second，3 D—model was put to Adams．Contact impact model of dynamic about ground to leg was built by using force restrictions， and the global simulating model of dynamic of hexapod was formed．Then，the walking course was simula— ted with HHT，and the change of impact course of ground to leg and drive torque of motor and constraint torque of joints were studied when its speed equal or accelerate．The outcome showed that the influence of capability of dynamics from gait was great，and it can improve the motion stability efficiently．This method is significant for designing legged robot and studying its capability of dynamics． Key words：hexapod robot；motion planning；impact model；dynamic simulation 0 纂 步行机器人在机器人研究领域中占有重要地 受建模和仿真技术的限制，在动力学研究中一般采