Gecko Robot Virtual Prototype Modeling And Simulation By Adams

Various robots are playing important roles nowadays. As one of these robots, the gecko robot has a lot of advantages for its special applications such as military and anti-terrorism.This thesis has introduced the development and current situation of the gecko robot simulation technology of the computer, and the development of kinematics of multi-body system briefly.With the theoretical analysis of the robot, it shows the theoretical foundation for the following simulation which is based on software ADAMS used for kinematics analyse of mechanical system.This thesis set up the prototype of the robot first before simulation. In order to carry on kinematics simulation, UG was used to model the robot, and inputs the robot prototype into ADAMS through the interface between UG and ADAMS. In the way , the simulation model is set up.We divide two kinds of different operating models, then build up the simulation condition of work with two kinds of gaits in ADAMS. Furthermore, we carry on a series of kinematics simulation respectively, and obtain the strength and moment received of every joint of robot.The next step is to devise two kinds of gaits according to the different situations. After adding motion functions, make a series of simulations. Finally obtain the velocity of gecko robot, and verify the stabilization of the structure. During the procession, find out some problems, and change the mechanical structure. It decreases the risk of physical model.