四足机器人运动分析和仿真 摘要 本论文主要研究闭链五杆机构四足机器人的步态问题，现市面上所有足式机器人基本为膝式或肘式腿部结构的机器人，闭链五杆机构的足式机器人很少但以闭链五杆机构为腿部结构的四足机器人却有着很好的运动潜力，与表现最好的四足动物相匹配且制作成本相对较低。本论文对步态的研究是基于 Adams 和 MATLAB 的联合仿真进行的，在 Adams中完成对虚拟样机的设置，然后通过 MATLAB 控制该样机的运动，达到模拟实物运动的目的。经过不断地仿真和改进，主要研究出了四足机器人的踏步和行走步态。关键词：闭链五杆机构、四足机器人、步态AbstractThis paper mainly studies the gait problem of four-legged robot with closed chain five-bar mechanism. Currently, all foot robots on the market are basically knee or elbow type robots with leg structure, and few foot robots with closed chain five-bar mechanism. However, the four-legged robot with closed chain five-bar mechanism as the leg structure has a good potential for movement, which is matched with the best-performing four-legged animal and relatively low production cost.This paper on gait research is based on the joint simulation of Adams and MATLAB, in Adams to complete the virtual prototype setup, and then through MATLAB control of the prototype movement, to achieve the purpose of simulating physical motion. Through continuous simulation and improvement, the step and gait of four-legged robot are mainly studied.Keywords: closed chain five-bar mechanism, Quadruped robot, locomotor gait目录第一章 绪论.....................................................................................................................................11.1 课题研究背景及意义.......................................................................................................11.2 国内外研究现状...............................................................................................................11.2.1 国外研究...
