Motion Simulation and Analysis of the Biped Robot

摘要：

　　A new idea,method and technology are provided for research on complex kinematics and dynamics of a biped robot using computer simulation technology.The virtual prototype of the biped robot,created by Pro/ENGINEER,is put into ADAMS and setting material,fixed joints,revolute joints,contact forces,frictions,torque and gravity are implemented for the virtual prototype to carry out dynamics simulation.The calculation of testing curve is conducted with ADAMS/PostProcessor to acquire trajectory curve of each component of mass center for the biped robot with respect to time.The trajectory curve is imported into Matlab to get space trajectory curve of mass center and its parameterized equation through functional curve fitting trajectory curve.

关键词： Biped robot Dynamic performance Track center of gravity Data analysis

作者: Ying XU Shouyong Duan Yachao Lei

作者单位: Key Laboratory of Nondestructive Testing,Ministry of Education,Nanchang Hangkong University,Nangchan Information and mechanical system Engineering,University of Yamanashi,Kofu,Yamanashi,400-8510 Japan

会议类型: 国际会议

会议名称: the 2012 2nd International Conference on Frontiers of Manufacturing Science and Measuring Technology (第二届制造科学与检测技术国际会议(ICFMM 2012))

会议地点: 西安

会议语种:英文

页码: 82-85

在线出版日期: 2012-06-12（万方平台首次上网日期，不代表论文的发表时间）