Computer Aided Dynamic Simulation of Six- Legged Robot

摘要

Abstract—In this study, kinematics and dynamic simulation of a six-legged robot is performed based on virtual prototyping technology. Modeling and simulation of sixlegged robot with three joint legs are carried out with CATIA solid modeler, SimDesigner and ADAMS multibody dynamic solver. Tripod periodic gait pattern was generated varying the cycle time as well as stroke of the swing of the legs. Variation of joint torques and aggregate center of mass of the robot during periodic gait were analysed. The simulation result provides theoretical basis for developing algorithm for robot motion control. Index Terms—Legged robot, simulation, dynamic modeling, torque, tripod gait I.