针对教学用双足步行机器人样机,建立五连杆物理模型,对前向运动进行分析,运用正运动学理论建立运动学方程,结合机器人样机实际参数,推导出该双足机器人各关节速度函数及重心坐标;在此基础上采用ADAMS软件建立机器人正向运动模型,通过仿真得到关节角度变化曲线,进而得到双足机器人步行过程中关节角度的变化规律。 According to the prototype of biped walking robot, a five-link physical model was established and the forward movement was analyzed. The kinematics equation was established by positive kinematics theory. Combined with the actual parameters of robot prototype, the joint velocity function and Based on this, ADAMS software was used to establish a model of forward movement of the robot, and the change curve of joint angle was obtained by simulation. Then the change rule of joint angle in biped robot was obtained.