液压与气动Issue(11)：41-45,5.DOI:10.11832/j.issn.1000-4858.2017.11.008
基于ADAMS的四足仿生机器人单腿结构设计
Leg Structure Design Based on ADAMS of Bio-inspired Quadruped Robot
摘要
Abstract
A hydraulically actuated quadruped bionic robot is designed based on the virtual prototyping technology of the software ADAMS.By analyzing the body structure and movement characteristics of the four-legged mammals, we design the mechanical mechanism of the bionic robot, determine the leg freedom degree configuration of the robot, and establish the simulation model.According to the actual motion gait of animal, two steps of static gait and diagonal trot are designed and simulated, and inverse dynamics simulations are carried out, and the output data of key parts such as joints are obtained.Based on the simulation experiment, we design key parameters of hydraulic actuators, and design a single leg mechanical structure of the bionic quadruped robot.关键词
四足机器人/液压/仿真/结构设计/仿生Key words
quadruped robot/hydraulic/simulation/structural design/bionics分类
机械制造引用本文复制引用
常同立,郭志鹏,刘思宇,潘正琦,和建增..基于ADAMS的四足仿生机器人单腿结构设计[J].液压与气动,2017,(11):41-45,5.基金项目
黑龙江省工信委项目(GXW2010080) （GXW2010080）
黑龙江省教育厅课题资助项目(11553020) （11553020）
