Six Legs Mobile Robot Based On Virtual Prototyping Technology Research

Along with the deepening and developing of robot research, virtual prototyping technology as robot design and research tool will play an increasingly important role. The development trend of the robot is diversiform and intelligent. The robot industry in our country has no market competitiveness for its long development Period and high cost of the new products. The robot products in our country are far from the need of the development trend. This paper took six-wheel-legged robot as object of study, with support of UG, ADAMS and MATLAB, has carried out researches into the application of virtual prototyping technology in the robot development.First dynamics analysis of the machine of lifting was carried on with Lagrange equation. Simplified model of the robot was established based on the 3D modeling software UG, Did research on exporting 3D solid model by the Motion and Parasolid from UG. The model was imported into ADAMS and virtual prototype of the robot was built in ADAMS. Dynamics simulation analysis of the robot's behavior was carried on, evaluated the ability of the robot crossing the barrier, got a lot of simulation data, which provided the basis for research and development of the robot.The paper researched connection method of ADAMS and MATLAB. Established the performance simulation environment in ADAMS, through the organic integration of ADAMS/Controls and Simulink model initially constructed the robot simulation system. So the mechanical designer and the controls designer can share the same virtual prototyping model, the mechanical system design and the control system design can coordinate well, Moreover, this software has a user-friendly interface, which facilitates the switch of different control models and the adjustment of control parameters as well as drawing of the simulation curves and processing of simulation data.