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摘要四足机器人是目前研究最多且能实现最多功能的机器人，机器人领域一般按足数量，分为二足、四足、六足、八足…机器人，四足机器人是一个复杂的耦合运动系统，它相对更多足式机器人结构相对简单些，一般机器人的功能也能够实现，比如跨越障碍，上下台阶，在不平整的路面运动，它不用于传统的履带式或者轮式机器人，它腿部的动力学模型具有明显的非线性和复杂性，建模需要考虑的因素也是多得多，所以本文将完成四足机器人的动力学建模及后期仿真。47537
本文以四足机器人为研究对象,主要内容包括
1.阐述了四足机器人的研究背景和意义，简要分析了机器人在国内外的发展现状和趋势。
2．建立四足机器人的三维总体结构（SOLIDWOKS简单模型），并对机器人的腿部和关节进行分析和计算。
3.建立四足机器人动力学模型，数据和公式都由2过程提供，主要使用拉格朗日平衡法建模。
4.使用ADAMS软件对模型进行运动仿真，各参数查表设计，从而分析关节力矩和腿部所需动能位能，摩擦力，奇异状态等参数或者特殊状态。具体数据和曲线我会在附件展出。
本文研究内容将为后续机器人的控制算法提供数学模型, 也为机器人的结构优化设计与关节驱动电机、减速器的选型等提供理论依据。
毕业论文关键词：四足机器人；动力学模型；三维总体结构；腿与关节分析；ADAMS
毕业设计说明书外文摘要
Title 4 foot bionic robot dynamic model and simulation analysis
Abstract
Quadruped robot dynamics model of the problem is to realize high precision control and the foundation of mechanical design. But the quadruped robot is active mechanism, Degrees of freedom of motion mechanism, And every joint can drive alone. Control theory point of view, It is a complex dynamic coupling complex system. The dynamic mathematical model has significant nonlinear and complexity. Compared with traditional wheel, crawler robot, Environment of the quadruped robot has a strong adaptability and flexibility, Can enter a relatively narrow space and can cross obstacle, up and down stairs, up and down slope, Can even movement on the surface of the uneven soil preparation, in the rescue and relief, demining, adventure, recreation, and many aspects such as the military has a good application prospect.
Based on quadruped robot as the research object, the main content included:
1.This paper expounds the research background and significance of the quadruped robot, the brief analysis of the status quo and tendency of the development of robot at home and abroad.
2. Establish a four-legged robot 3 d overall structure (SOLIDWOKS simple model), and the analysis and calculation for the legs and joints of the robot.
3. Quadruped robot dynamics model is established, the data and formulas are provided by the process of 2, mainly using the method of Lagrange balance modeling.
4. Using ABAQUS software in finite element simulation of the model, the parameters of the look-up table design, so as to analyze joint torque required kinetic energy, and leg friction, singular state parameters, etc. I will be on display in the attachment the specific data and curves.
In this paper, the research content will provide mathematical model for the follow-up of the robot control algorithm, also for structure optimization design of robot joint drive motor and reducer selection provides theory basis.
Keywords Quadruped robot; Dynamic model; 3 d overall structure; Legs and joint analysis; ADAMS
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1 绪 论