Dynamic Simulation Analysis of Humanoid Robot Walking System Based on ADAMS

被引：0

作者：

张邦成 ^{[1
]}

邵晨 ^{[1
]}

李永生 ^{[2
]}

谭海东 ^{[1
]}

姜大伟 ^{[3
]}

机构：

[1] School of Mechatronic Engineering, Changchun University of Technology

[2] CRCC Changchun Railway Vehicles Co., Ltd.

[3] School of Applied Technology, Changchun University of Technology

来源：

Journal of Shanghai Jiaotong University(Science) | 2019年 / 24卷 / 01期

基金：

中国国家自然科学基金;

关键词：

humanoid robot walking system; Lagrange method; dynamics; ADAMS;

D O I：

暂无

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

摘要：

Humanoid robots are a hot topic in the field of robotics research. The walking system is the critical part of the humanoid robot, and the dynamic simulation of the walking system is of great importance. In this paper, the stability of the walking system and the rationality of its structural design are considered in the study of dynamics for a humanoid robot. The dynamic model of humanoid robot walking system is established by using the Lagrange dynamics method. Additionally, the three-dimensional model of CATIA is imported into ADAMS. The humanoid robot walking system is added with the movement of the deputy and the driving force in the ADAMS.The torque and angular velocity of the ankle joint and hip joint are analyzed in the process of knee bends. The simulation results show that the overall performance of the humanoid robot walking system is favorable and has a smooth movement, and the specified actions can be completed, which proves the rationality of the humanoid robot walking system design.

引用

页码：58 / 63

页数：6

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