| 四足机器人trot步态联合仿真分析 |
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| 引用本文： | 吴浔炜,左鹏.四足机器人trot步态联合仿真分析[J].农业装备与车辆工程,2021(2):135-139. |
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| 作者姓名： | 吴浔炜 左鹏 |
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| 作者单位： | 上海理工大学机械工程学院 |
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| 摘 要： | 以四足机器人为研究对象,利用SolidWorks建立四足机器人的简化模型,并利用MATLAB、ADAMS搭建联合仿真平台,采用联合仿真的方法,通过不断调整轨迹参数,实现了该机器人稳定的trot步态行走,验证该结构的合理性以及稳定性。通过联合仿真可以方便地进行参数优化,得到设计物理样机所需的数据,大大提高了设计效率。
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| 关 键 词： | 四足机器人 MATLAB ADAMS 联合仿真 trot步态 |
Trot Gait Co-Simulation Analysis of a Quadruped Robot |
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| Wu Xunwei,Zuo Peng.Trot Gait Co-Simulation Analysis of a Quadruped Robot[J].Agricultural Equipment & Vehicle Engineering,2021(2):135-139. |
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| Authors: | Wu Xunwei Zuo Peng |
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| Institution: | (School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China) |
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| Abstract: | Taking the quadruped robot as the research object,use SolidWorks to establish a simplified model of the quadruped robot,and use MATLAB and ADAMS to build a co-simulation platform.Use the co-simulation method to continuously adjust the trajectory parameters to realize the stable trot walking of the robot,and to verify the rationality and stability of the structure.Parameter optimization can be conveniently carried out through co-simulation,and the data needed to design the physical prototype can be obtained. |
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| Keywords: | quadruped robot MATLAB ADAMS co-simulation trot gait |
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