Gaits simulation is one of a biped robot's design techniques. Aimed to have such problems as hardly having the visualized effect in 2D simulation and failing to transform model and datum between different softwares in 3D simulation,presents a new method about biped robot' s motion simulation,which is only based on UGNX software to accomplish 3D simulation of a small biped robot. According to experimental prototype,a small biped robot's kinematics model is set up. Secondly,the movement of going staight is diveded into ten segregated movements after effectively planning humanoid robot walking. Since biped robot has no fixed supporting point,contact constraint and friction force are added to robot foot and road surface,a virtual prototype is builded up base on UGNX,and 3D simulation are achived. Through comparing simulation result with experiment,it shows that it is feasible to carry out biped robot' s humanoid walking only based on UGNX.%步态仿真是双足机器人设计技术的重要环节之一.针对现有步态仿真存在二维仿真不够直观、三维联合仿真会带来链接失败和数据转换丢失等问题,从简化仿真流程和增强仿真视觉效果出发,提出了仅运用三维软件UGNX完成一种小型双足机器人步态的三维仿真.参照该物理样机构型,首先建立了双足行走机构的运动学模型.通过对拟人步态的合理规划,将直行动作分解为10个子动作,以实现序列动作的连续仿真.由于机器人行走时无固定支撑点,通过对脚底板与虚拟环境间添加接触约束和摩擦力,建立了UGNX环境下虚拟样机,最终完成拟人步态的运动学仿真.仿真结果与现场实验对比表明,采用三维软件UGNX进行双足机器人步态建模与行走仿真研究具有较强的可行性.
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