Design Of Locomotion Performance Simulation Platform For Environment Exploration Robots

This paper is on the research of interaction between environment exploration robot and 3D solid terrain, the 3D solid terrain generation technology and virtual prototype technology of environment exploration robot are studied. The main studying contents and outcomes as follows:1. The first, the elevation data of terrain frame were generated by using Diamond-Square algorithm then, based on the reverse engineering technology, 3D solid terrain was created by interpolation and fitting of elevation data of terrain frame, the creation of 3D solid terrain for environment exploration has been done.2. The virtual prototype model of environment exploration robot (spherical robot, wheeled mobile robots, and biped robot) is created by parameters technology, it can enhances the effectiveness of establishing model.3. Based on secondary exploit of ADAMS software,"The movement simulation platform of environment exploration robot"is created by design and development of C++ Builder. Terrain module, robot module, solution module and post processor module are included in the movement simulation platform. This platform can really simulate the locomotion simulation of the robot running on every terrain and can real-time display the movement velocity, centroid position, and movement status of each part of the robot, and analysis evaluate movement performance of environment exploration robot. This platform also can provide the environment of simulation analysis and performance test for the mobile robots created by the other CAD software.