Structure Design and Kinematic Simulation of Biomimetic Hexapod Robot based on the ADAMS

Gong Li’nan; Pang Zaixiang

doi:10.16578/j.issn.1004.2539.2018.03.012

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Structure Design and Kinematic Simulation of Biomimetic Hexapod Robot based on the ADAMS

更新时间：2022-10-20

- Structure Design and Kinematic Simulation of Biomimetic Hexapod Robot based on the ADAMS
- Vol. 42, Issue 3, Pages: 49-53(2018)
- 作者机构：
  
  1. 长春职业技术学院工程技术分院
  2. 长春工业大学工程训练中心
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.03.012
  CLC：
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[1]宫丽男,庞在祥.基于ADAMS的六足仿生机器人结构设计及运动仿真[J].机械传动,2018,42(03):49-53.

Gong Li’nan, Pang Zaixiang. Structure Design and Kinematic Simulation of Biomimetic Hexapod Robot based on the ADAMS. [J]. 42(3):49-53(2018)
[1]宫丽男,庞在祥.基于ADAMS的六足仿生机器人结构设计及运动仿真[J].机械传动,2018,42(03):49-53. DOI： 10.16578/j.issn.1004.2539.2018.03.012.

Gong Li’nan, Pang Zaixiang. Structure Design and Kinematic Simulation of Biomimetic Hexapod Robot based on the ADAMS. [J]. 42(3):49-53(2018) DOI： 10.16578/j.issn.1004.2539.2018.03.012.

摘要

为了提高六足仿生机器人对工作环境的适应性及工作的灵活性,在分析仿生甲虫机体形态和结构特点的基础上,以甲虫为摹本,设计了一种性能优越、结构简单的六足对称的纲昆虫结构机器人,利用CATIA三维造型软件生成三维实体模型,将其导入ADAMS建立虚拟样机动力学模型。对其进行六足机器人在平坦地面上直线行走步态和定点转弯步态分析,得到了运动学和动力学特性曲线,验证了机器人结构的合理性和运动的可行性。为机器人数值计算及物理样机的研制提供理论依据,也为实现六足仿生机器人的精确控制创造条件。

Abstract

In order to improve the adaptability and flexibility of the hexapod bionic robot to the working environment,based on the analysis of the physical form of bionic beetle and structural characteristics,taking the beetles as reference,a kind of six-foot symmetrical insect structure robot with good performance and simple structure is designed. The 3 D solid model is generated by using CATIA 3 D modeling software,which is imported into ADAMS to establish the dynamics model of virtual prototype. The gait of the hexapod robot walking on the flat ground and the gait of the fixed-point turning are analyzed. The curve of kinematics and dynamics characteristics are obtained,and the rationality of the structure and the feasibility of the motion are verified. It provides the theoretical basis for the numerical calculation of the robot and the development of the physical prototype,and also creates the conditions for the precise control of the hexapod bionic robot.

关键词

仿生甲虫六足机器人结构设计步态轨迹运动仿真

Keywords

Bionic beetleHexapod robotStructural designGait trajectoryKinematic simulation

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