中文摘要：

为进行非化学田间除草,设计了一种四足除草机器人。对该除草机器人进行虚拟样机建模和动力学仿真,目的是提高四足除草机器人设计的效率与可靠性。在ADAMS中建立四足除草机器人的机械动力学模型,并运用ADAMS与MATLAB/Simulink联合仿真技术对其参数进行控制中的参数整定。通过此方法,可以初步确定四足除草机器人在行走过程中的PID参数及所需要的驱动力。ADAMS和MATLAB/Simulink联合仿真方法面向多领域,仿真结果逼真并且接近实际系统,为四足除草机器人物理样机的研制提供依据,解决了传统设计过程中机械和控制系统不匹配问题。

英文摘要：

In order to weed without using chemicals,this paper designed a quadruped weeding robot. The virtual prototype model and dynamic simulation of the weeding robot was established,and the efficiency and reliability of the quadruped weeding robot were improved. After the mechanical dynamic model of the quadruped weeding robot was built with ADAMS,the ADAMS and MATLAB / Simulink co-simulation（ coordinated simulation） technology was employed to set the parameters of the control system. With the method,the PID parameters and the driving force for the walking of the quadruped weeding robot are preliminarily determined. Because the ADAMS and MATLAB / Simulink co-simulation is multi-field oriented,the simulation results are approximate to reality and close to a real robot. This method paves the foundation for developing the physical prototype of a quadruped weeding robot and helps to solve the mismatching between a machine and its control system in traditional designs.