基于液压驱动的四足步行机器人设计与仿真

摘要

采用液压伺服系统，在结构上仿照哺乳类动物的运动方式，设计了机器人的机械结构。通过建立动力学模型，利用虚拟样机仿真软件 ADAMS/View 和ADAMS/Hydraulics进行性能和参数的运动仿真分析研究，并通过实验验证了所设计的机器人可行，运行良好。%A new kind of walking robot with hydraulic servo system was designed ,whose motion mode was similar to the mammals . By establishing the dynamic model of the robot ,the motion simulation of the robot was carried out by ADAMS/View and ADAMS/Hydraulics .The experimental results show that the design of robot is feasible .