八脚机器爬虫运动仿真分析

采用叠层IPMC为片状脚，设计左右非对称分布的八脚机器爬虫模型，通过输入电压波形实现动力驱动。运用刚-柔混合技术，确定柔性体片状脚与刚性体地面接触模式，设计合理的行走步态，获得向前不间断的动力驱动。整个分析过程借助于ANSYS和ADAMS有限元分析软件完成，在ANSYS中建模，并获取32阶模态，通过ADAMS分析完成八脚机器爬虫的运动分析。经参数研究发现，较小的动力驱动和较高的驱动频率既能让机器爬虫保持一定速度，又能使其载重得到一定程度增加，且整体稳定性良好。

SIMULATION ANALYSIS OF IPMC 8-LEGGED WALKING REPTILE

The 8-legged walking reptile model was designed with laminated IPMC as sheet-form leg asymmetrically distributing on the two sides. The power driver was achieved by inputting voltage wave. Using rigid-flexible hybrid technology, the touch-model of flexible sheet-form leg and rigid ground was determined. The reasonable walking gait was designed so as to get the driving power to make the reptile moving forward continuously. The entire analysis was carried out completely by finite element analysis software ANSYS and ADAMS. Geometric model and up to 32-order mode was obtained in ANSYS, while the movement analysis of the 8-legged walking reptile was performed in ADAMS. Parameter study found that the smaller power-driven and high drive frequency can not only make the walking reptile maintain a certain speed, but also increase its loading capacity and keep its stability quite well.