基于ProE和ADAMS的人形机器人三维造型及运动仿真研究(3)

华北电力大学硕士学位论文AbstractHumanoid robot has the most similar movement pattern to human, and has good adaptability to complex environment. More research around the humanoid robot gait programming has carried out, the purpose is to make its can replace human beings engaged in dangerous operations and related work. The topics do the research on the walking stability of humanoid robot and verify the correct leg angle interpolation and rational. Firstly, according to the structural characteristics of humanoid robots, using Pro/E software design and build humanoid robot entity model. Humanoid robot has 6 degrees of freedom on the arm and 12 degrees of freedom on the leg. Then, simplify the humanoid robot legs institutions and establish the mathematical model. Using the D-H rules listed humanoid robot legs every rods and joint angle variables, so that the matrix expression of humanoid robot legs kinematics analysis was carried out. This subject adopts ZMP theory as a humanoid robot walking stability criterion, this paper deduces the constraint conditions of stable walking robot. According to its leg in walking movement during different stages position and posture of the change of the robot legs pose matrix inverse solution to get its each joint angle interpolation. Finally, import humanoid robot’s legs model into the simulation software ADAMS , then add the corresponding restraint and gravity. Next, use step function to give the corner to the calculated interpolation. Simulation experiments show that humanoid robots walk movement is stable and feasible, for the humanoid robot further gait planning study to lay the foundation.Keywords：humanoid robot，walking，ADAMS，Pro/E，simulationII