Dynamic Simulation Analysis of Humanoid Robot Walking System Based on ADAMS

doi:10.1007/s12204-019-2040-3

Journal of Shanghai Jiao Tong University (Science) ›› 2019, Vol. 24 ›› Issue (1): 58-63.doi: 10.1007/s12204-019-2040-3

Dynamic Simulation Analysis of Humanoid Robot Walking System Based on ADAMS

ZHANG Bangcheng *(张邦成), SHAO Chen (邵晨), LI Yongsheng (李永生), TAN Haidong (谭海东), JIANG Dawei (姜大伟)

(1. School of Mechatronic Engineering, Changchun University of Technology, Changchun 130012, China; 2. CRCC Changchun Railway Vehicles Co., Ltd., Changchun 130062, China; 3. School of Applied Technology, Changchun University of Technology, Changchun 130012, China)

出版日期:2019-02-28 发布日期:2019-01-28
通讯作者: ZHANG Bangcheng *(张邦成) E-mail:zhangbangcheng@ccut.edu.cn

Dynamic Simulation Analysis of Humanoid Robot Walking System Based on ADAMS

ZHANG Bangcheng *(张邦成), SHAO Chen (邵晨), LI Yongsheng (李永生), TAN Haidong (谭海东), JIANG Dawei (姜大伟)

(1. School of Mechatronic Engineering, Changchun University of Technology, Changchun 130012, China; 2. CRCC Changchun Railway Vehicles Co., Ltd., Changchun 130062, China; 3. School of Applied Technology, Changchun University of Technology, Changchun 130012, China)

Online:2019-02-28 Published:2019-01-28
Contact: ZHANG Bangcheng *(张邦成) E-mail:zhangbangcheng@ccut.edu.cn

摘要/Abstract

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.

关键词: humanoid robot walking system, Lagrange method, dynamics, ADAMS

Abstract: 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.

Key words: humanoid robot walking system, Lagrange method, dynamics, ADAMS

中图分类号:

TP 242

ZHANG Bangcheng *(张邦成), SHAO Chen (邵晨), LI Yongsheng (李永生), TAN Haidong (谭海东), J. Dynamic Simulation Analysis of Humanoid Robot Walking System Based on ADAMS[J]. Journal of Shanghai Jiao Tong University (Science), 2019, 24(1): 58-63.

ZHANG Bangcheng *(张邦成), SHAO Chen (邵晨), LI Yongsheng (李永生), TAN Haidong (谭海东), JIANG Dawei (姜大伟) . Dynamic Simulation Analysis of Humanoid Robot Walking System Based on ADAMS[J]. Journal of Shanghai Jiao Tong University (Science), 2019, 24(1): 58-63.

参考文献 12

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Dynamic Simulation Analysis of Humanoid Robot Walking System Based on ADAMS

Dynamic Simulation Analysis of Humanoid Robot Walking System Based on ADAMS

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