利用ADAMS软件虚拟样机技术,设计了液压驱动的四足仿生机器人单腿机械结构.通过分析四足哺乳类动物身体结构及运动特性,设计了仿生机器人的机械机构,确定了机器人腿部自由度配置,建立了仿真模型.根据动物的实际运动步态,规划并设计了静步态及对角小跑两种步态,进行了逆动力学仿真,得到关节等关键部位输出数据.在仿真实验的基础上,设计了液压作动器的关键参数及四足仿生机器人单腿机械结构.%A hydraulically actuated quadruped bionic robot is designed based on the virtual prototyping technology of the software ADAMS.By analyzing the body structure and movement characteristics of the four-legged mammals, we design the mechanical mechanism of the bionic robot, determine the leg freedom degree configuration of the robot, and establish the simulation model.According to the actual motion gait of animal, two steps of static gait and diagonal trot are designed and simulated, and inverse dynamics simulations are carried out, and the output data of key parts such as joints are obtained.Based on the simulation experiment, we design key parameters of hydraulic actuators, and design a single leg mechanical structure of the bionic quadruped robot.
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