Advertisement

Dynamic Simulation Analysis of Humanoid Robot Walking System Based on ADAMS

  • Bangcheng Zhang (张邦成)Email author
  • Chen Shao (邵晨)
  • Yongsheng Li (李永生)
  • Haidong Tan (谭海东)
  • Dawei Jiang (姜大伟)
Article
  • 4 Downloads

Abstract

Humanoid robots are a hot topic in the field of robotics research. The walking system is the critical part of the humanoid robot, and the dynamic simulation of the walking system is of great importance. In this paper, the stability of the walking system and the rationality of its structural design are considered in the study of dynamics for a humanoid robot. The dynamic model of humanoid robot walking system is established by using the Lagrange dynamics method. Additionally, the three-dimensional model of CATIA is imported into ADAMS. The humanoid robot walking system is added with the movement of the deputy and the driving force in the ADAMS. The torque and angular velocity of the ankle joint and hip joint are analyzed in the process of knee bends. The simulation results show that the overall performance of the humanoid robot walking system is favorable and has a smooth movement, and the specified actions can be completed, which proves the rationality of the humanoid robot walking system design.

Key words

humanoid robot walking system Lagrange method dynamics ADAMS 

CLC number

TP 242 

Document code

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. [1]
    MAEBA T, WANG G, YU F, et al. Motion representation of walking/slipping/turnover for humanoid robot by Newton-Euler method [C]//SICE Annual Conference. Tokyo, Japan: IEEE, 2011: 255–260.Google Scholar
  2. [2]
    GE X F, JIN J T. Dynamics analyze of a dual-arm space robot system based on Kane’s method [C]//2nd International Conference on Industrial Mechatronics and Automation. Wuhan, China: IEEE, 2010: 646–649.Google Scholar
  3. [3]
    YANG K, WANG X Y, GE T, et al. A dynamic model of an underwater quadruped walking robot using Kane’s method [J]. Journal of Shanghai Jiao Tong University (Science), 2014, 19(2): 160–168.CrossRefGoogle Scholar
  4. [4]
    LUO L P, YUAN C, SHIN K S, et al. Trajectory for robotic manipulators with torque minimization by using hermit interpolation method [C]//13th International Conference on Control, Automation and Systems. Gwangju, Korea: IEEE, 2013: 1480–1483.Google Scholar
  5. [5]
    CUI M Q. Dynamical modeling of SCARA robot based on Lagrange formulation [J]. Machinery Design & Manufacture, 2013(12): 76–78 (in Chinese).Google Scholar
  6. [6]
    AKBARZADEH A, ENFERADI J, SHARIFNIA M. Dynamics analysis of a 3-RRP spherical parallel manipulator using the natural orthogonal complement [J]. Multibody System Dynamics, 2013, 29(4): 361–380.MathSciNetCrossRefGoogle Scholar
  7. [7]
    WEI H X,WANGTM, LIUM. Inverse dynamicmodeling and analysis of a new caterpillar robotic mechanism by Kane’s method [J]. Robotica, 2013, 31(3): 493–501.CrossRefGoogle Scholar
  8. [8]
    ZHANG M, WANG P L. Application of MSC SimDesigner in product design [J]. Computer Aided Engineering, 2006, 15(Sup1): 447–449 (in Chinese).Google Scholar
  9. [9]
    GUO Y. Virtual prototype and dynamics simulation of reducer based on CATIA [D]. Yanbian University, 2012 (in Chinese).Google Scholar
  10. [10]
    CAI Z X. Robotics [M]. 2nd ed. Beijing: Tsinghua University Press, 2009 (in Chinese).Google Scholar
  11. [11]
    WANG X P, SHA Y B, ZHAO X Y. Dynamic simulation for clamping manipulator based on ADAMS [J]. Machine Tool & Hydraulics, 2013, 41(13): 142–143(in Chinese).Google Scholar
  12. [12]
    AN Z L, LI W G, WANG L L, et al. Gait simulation and analysis of humanoid robot based on ADAMS [J]. Mechanical Engineer, 2015(4): 57–59 (in Chinese).Google Scholar

Copyright information

© Shanghai Jiaotong University and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  • Bangcheng Zhang (张邦成)
    • 1
    Email author
  • Chen Shao (邵晨)
    • 1
  • Yongsheng Li (李永生)
    • 2
  • Haidong Tan (谭海东)
    • 1
  • Dawei Jiang (姜大伟)
    • 3
  1. 1.School of Mechatronic EngineeringChangchun University of TechnologyChangchunChina
  2. 2.CRCC Changchun Railway Vehicles Co., Ltd.ChangchunChina
  3. 3.School of Applied TechnologyChangchun University of TechnologyChangchunChina

Personalised recommendations