Modeling system, method, device and medium for legged robot based on Modelica

Abstract

The present invention provides a modeling system, method, device and medium for a legged robot based on Modelica. The modeling method for a legged robot based on Modelica includes: constructing a multi-body dynamics simulation model for a legged robot; obtaining a standard three-dimensional geometry file derived from drawing a three-dimensional geometry part drawing; in the process of creating the multi-body dynamics simulation model for the legged robot, associating the multi-body dynamics simulation model for the legged robot with the standard three-dimensional geometry file to visualize the multi-body dynamics simulation model for the legged robot; setting parameters for the visualized multi-body dynamics simulation model for the legged robot; and setting a driver for the visualized multi-body dynamics simulation model for the legged robot. The modeling method for a legged robot based on Modelica improves the problem in the prior art that a legged robot system with high reliability cannot be designed based on the dynamic characteristics of the legged robot during movement.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering system modeling and simulation, and in particular to a Modelica-based legged robot modeling system, method, equipment and medium. Background Art

[0002] Today, the mechanical capabilities of robots are gradually improving, their mobility is gradually increasing, and more advanced sensors, data processing systems, and communication networks will be installed on robots. Looking forward to future battlefields, both offense and defense will most likely be carried out between robots, and the investment in a large number of robots will become a development trend on future battlefields.

[0003] In addition, robots can also perform other specific tasks, such as carrying heavy materials in complex ground environments, reconnaissance and rescue in areas contaminated by biological and chemical weapons, etc., and have broad application prospects. Legged bionic robots are inspired by legged organisms and have obvious discontinuous support characteristics. Compared with wheeled, tracked, spherical and snake-shaped mobile robots, they have good adaptability to unknown and unstructured environments and can perform tasks such as detection, transportation, rescue and military assistance in complex field environments. They have now attracted much attention from robot researchers in various countries.

[0004] However, as the system structure of legged robots becomes more and more complex, it presents the characteristics of strong coupling of multiple disciplines and professions. It not only puts forward high requirements on the design of its normal functions and performance, but also puts forward high requirements on its motion and control performance. Therefore, in the early stage of legged robot design, it is of great significance to establish a multi-body dynamics model of the legged robot, conduct dynamic simulation of the legged robot, analyze the dynamic characteristics of the legged robot during the movement process, and check the robot system structure according to the dynamic characteristics, which is of great significance to improve the reliability and safety of the robot system. Summary of the invention

[0005] The purpose of the present invention is to provide a legged robot modeling system, method, device and medium based on Modelica. The legged robot modeling method based on Modelica can solve the problem in the prior art that it is impossible to design a legged robot system with higher reliability based on the dynamic characteristics of the legged robot during movement.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] An embodiment of the present invention provides a legged robot modeling method based on Modelica, and the method specifically includes:

[0008] Construct a multi-body dynamics simulation model of a legged robot;

[0009] Obtain the standard 3D geometry file exported by drawing 3D geometry parts drawings;

[0010] In the process of creating the legged robot multi-body dynamics simulation model, the legged robot multi-body dynamics simulation model is associated with the standard three-dimensional geometry file to visualize the legged robot multi-body dynamics simulation model;

[0011] Setting parameters of the visualized multi-body dynamics simulation model of the legged robot;

[0012] The visualized legged robot multi-body dynamics simulation model is driven and set, and the kinematic pairs that need to be driven are driven.

[0013] On the basis of the above technical solution, the present invention can also be improved as follows:

[0014] Furthermore, the construction of a multi-body dynamics simulation model of a legged robot includes:

[0015] A multi-body dynamics simulation model of a legged robot is established based on the Modelica language and the assembly relationship of the mechanical structure of the legged robot, wherein the multi-body dynamics simulation model of the legged robot is a multi-body dynamics simulation model of a legged robot;

[0016] The appearance module, the kinematic submodule and the posture conversion module of the multi-body dynamics simulation model of the legged robot are constructed based on the Modelica language, wherein the appearance module includes the body component, the shank component and the foot end component of the multi-body dynamics simulation model of the legged robot

[0017] Furthermore, in the process of creating the legged robot multi-body dynamics simulation model, the legged robot multi-body dynamics simulation model is associated with the standard three-dimensional geometry file to visualize the legged robot multi-body dynamics simulation model, including:

[0018] The shape module is associated with the standard three-dimensional geometry file, and the path and location of the standard three-dimensional geometry file are specified when importing the standard three-dimensional geometry file.

[0019] Furthermore, the parameter setting of the visualized legged robot multi-body dynamics simulation model includes:

[0020] The component parameters of the shape module are set according to the actual mass parameters of the legged robot, wherein the component parameters include component mass, mass point position, moment of inertia and initialization data.

[0021] Furthermore, the parameter setting of the visualized legged robot multi-body dynamics simulation model also includes:

[0022] According to the motion relationship of the shape module in the three-dimensional space, the rotation axis direction and initial motion information of the kinematic pair are set;

[0023] The motion sub-module to which the drive needs to be added is set to generate an external signal interface.

[0024] Furthermore, the parameter setting of the visualized legged robot multi-body dynamics simulation model also includes:

[0025] The parameters of the posture conversion module are set to determine the relative position and posture relationship between adjacent components.

[0026] Furthermore, the driving setting of the visualized legged robot multi-body dynamics simulation model includes:

[0027] Setting a contact module, and setting ground stiffness and damping based on the contact module to simulate different ground environments;

[0028] Add drive to the kinematic pair that needs to be driven, convert the output signal of the diagonal trotting module into a physical signal and output it to the kinematic pair to control the rotation of the kinematic pair.

[0029] A legged robot modeling system based on Modelica, comprising:

[0030] Building module for constructing a multi-body dynamics simulation model of a legged robot;

[0031] An acquisition module is used to acquire a standard 3D geometry file exported by drawing a 3D geometry part drawing;

[0032] an associating module, used for associating the legged robot multi-body dynamics simulation model with the standard three-dimensional geometry file during the process of creating the legged robot multi-body dynamics simulation model, so as to visualize the legged robot multi-body dynamics simulation model;

[0033] The setting module is used to set parameters of the visualized multi-body dynamics simulation model of the legged robot and to set the drive of the visualized multi-body dynamics simulation model of the legged robot.

[0034] A device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the steps of the method are implemented when the processor executes the computer program.

[0035] A non-transitory computer readable medium stores a computer program, which implements the steps of the method when executed by a processor.

[0036] The present invention has the following advantages:

[0037] The modeling method of a legged robot based on Modelica in the present invention constructs a multi-body dynamics simulation model of a legged robot; obtains a standard three-dimensional geometry file derived from drawing a three-dimensional geometric part drawing; in the process of creating the multi-body dynamics simulation model of the legged robot, associates the multi-body dynamics simulation model of the legged robot with the standard three-dimensional geometry file to visualize the multi-body dynamics simulation model of the legged robot; sets parameters for the visualized multi-body dynamics simulation model of the legged robot; and sets the drive for the visualized multi-body dynamics simulation model of the legged robot. Establishing a multi-body dynamics model of the legged robot in the early stage of the design of the legged robot, performing dynamics simulation of the legged robot, analyzing the dynamic characteristics of the legged robot during movement, and verifying the robot system structure according to the dynamic characteristics are of great significance for improving the reliability and safety of the robot system; and solves the problem in the prior art that a legged robot system with high reliability cannot be designed based on the dynamic characteristics of the legged robot during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 It is a flow chart of the legged robot modeling method based on Modelica of the present invention;

[0040] Figure 2 It is a block diagram of the legged robot modeling system based on Modelica of the present invention;

[0041] Figure 3 This is a simulation model diagram of the mechanical structure of the foot-type robot of the present invention;

[0042] Figure 4 This is a diagram of a multi-body dynamics simulation model of a legged robot according to the present invention;

[0043] Figure 5 A three-dimensional model diagram of the legged robot of the present invention;

[0044] Figure 6 This is a schematic diagram of the physical structure of the device provided by the present invention.

[0045] Description of Reference Numerals

[0046] Building module 10, acquisition module 20, association module 30, setting module 40, device 50, processor 501, memory 502, bus 503, appearance module 60, body component 601, calf component 602, foot end component 603, motion sub-module 70, posture conversion module 80, contact module 90, diagonal trotting module 100, signal conversion module 110, ground module 120. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] It should be noted that the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatus.

[0049] In the present application, the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", etc. are based on the directions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction.

[0050] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0051] In addition, the term "plurality" shall mean two or more.

[0052] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0053] Figure 1 FIG. 1 is a flow chart of an embodiment of a method for modeling a legged robot based on Modelica according to the present invention. Figure 1-Figure 5 As shown, a legged robot modeling method based on Modelica provided by an embodiment of the present invention comprises the following steps:

[0054] S101, construct a multi-body dynamics simulation model of a legged robot;

[0055] Specifically, a multi-body dynamics simulation model of a legged robot is established based on the Modelica language and the assembly relationship of the mechanical structure of the legged robot, wherein the multi-body dynamics simulation model of the legged robot is a multi-body dynamics simulation model of a legged robot;

[0056] The appearance module 60, the kinematic submodule 70 and the posture conversion module 80 of the multi-body dynamics simulation model of the legged robot are constructed based on the Modelica language, wherein the appearance module 60 includes the body component 601, the shank component 602 and the foot end component 603 of the multi-body dynamics simulation model of the legged robot.

[0057] The mechanical structure of the legged robot is mainly composed of a body and four legs. Each leg is composed of a shank component 602 and a foot end component 603. Figure 3 The body component 601, the shank component 602 and the foot component 603 are all represented by the BodyShape module in Modelica. The shank component 602 and the body component 601, the foot component 603 and the shank component 602 are all connected by the motion submodule 70, which plays a connecting and driving role. The relative positions between different components are determined by the posture conversion module 80.

[0058] S102, obtaining a standard 3D geometry file derived from drawing a 3D geometry part drawing;

[0059] Specifically, Figure 5 As shown, a 3D model of each part of the legged robot is established in the 3D CAD software and exported as a standard 3D geometry file, such as a file in the format of stl, dxf or hsf.

[0060] S103, in the process of creating the legged robot multi-body dynamics simulation model, associating the legged robot multi-body dynamics simulation model with a standard three-dimensional geometry file to visualize the legged robot multi-body dynamics simulation model;

[0061] Specifically, the shape module 60 is associated with the standard three-dimensional geometry file, and the path and location of the standard three-dimensional geometry file are specified when the standard three-dimensional geometry file is imported.

[0062] Using MWorks.Sysplorer (multi-domain unified modeling and simulation analysis software); based on the Modelica language specification, in accordance with the assembly relationship of the legged robot's mechanical structure, a multi-body dynamics simulation model of the legged robot is established. In the process of creating the multi-body dynamics simulation model of the legged robot, the BodyShape module in Modelica is associated with the standard three-dimensional geometry file, and the path and location of the three-dimensional geometry file are specified when the three-dimensional geometry file is imported externally.

[0063] MWorks.Sysplorer is a system-level integrated design and simulation verification platform for multi-domain industrial products. It fully supports the multi-domain unified modeling specification Modelica, follows the hierarchical modeling method of topological structures in reality, and supports model-based system engineering applications.

[0064] MWorks.Sysplorer supports the modeling expression and modular packaging of industrial design knowledge, supports rapid system model integration and design verification based on physical topology, supports multi-scheme optimization and design parameter optimization, and provides effective technical support for industrial enterprises' design knowledge accumulation and product innovation design in a knowledge-reusable and system-reconfigurable manner. It is of great value in early detection of product design defects, rapid verification of design solutions, comprehensive optimization of product performance, and effective reduction of physical verification times.

[0065] S104, setting parameters for the visualized legged robot multi-body dynamics simulation model;

[0066] Specifically, the component parameters of the shape module 60 are set according to the actual mass parameters of the legged robot, wherein the component parameters include component mass, mass point position, moment of inertia and initialization data.

[0067] BodyShape module parameter settings:

[0068] After the BodyShape module is associated with the three-dimensional geometry file of the legged robot, the parameters of each component in the model can be set according to the actual mass parameters of the designed robot, including component mass, center of mass position and moment of inertia, as well as some initialization data. The initialization data refers to the value at the initial moment of model solution, mainly including the name of the three-dimensional component, the shape of the three-dimensional component, the color and material of the three-dimensional component, the initial motion state of the three-dimensional component, the initial position and posture of the three-dimensional component. The initial position and posture of the three-dimensional component are expressed in frame coordinates, namely the origin, x-axis, y-axis and z-axis, including the position coordinates and rotation angle of the three-dimensional component.

[0069] According to the motion relationship of the shape module 60 in the three-dimensional space, the rotation axis direction and initial motion information of the motion pair are set;

[0070] Parameter settings of motion submodule 70:

[0071] Taking the revolute pair as an example, according to the motion relationship of the various components of the legged robot in three-dimensional space, the rotation axis direction of the revolute pair module and the initial motion information of the kinematic pair, including the initial angle and angular velocity, are set. For the kinematic pair that needs to add a drive, it is necessary to set it up and generate an external signal interface.

[0072] The motion sub-module 70 to which a drive is required is set to generate an external signal interface.

[0073] The posture conversion module 80 is parameterized to determine the relative position and posture relationship between adjacent components.

[0074] S105, performing drive settings on the visualized legged robot multi-body dynamics simulation model.

[0075] Specifically, a contact module 90 is provided, and the stiffness damping of the ground is set based on the contact module 90 to simulate different ground environments;

[0076] Add drive to the kinematic pair that needs to be driven, convert the output signal of the diagonal trotting module 100 into a physical signal and output it to the kinematic pair to control the rotation of the kinematic pair.

[0077] like Figure 4 As shown, the legged robot needs to contact the ground during the motion simulation process. The contact module 90 is used to connect the robot foot end component 603 and the ground module 120 to simulate the interaction between the robot foot end and the ground. The contact module 90 can set the stiffness damping coefficient of the ground to simulate different ground environments.

[0078] In the process of building the multi-body dynamics simulation model of the legged robot, a drive is added to the motion pair module 70; the output signal of the diagonal trotting module 100 is converted into a physical signal through the signal conversion module 110 and output to the rotation pair to control the rotation of the rotation pair, thereby realizing the movement of the legged robot.

[0079] Through the multi-body dynamics simulation model of the legged robot, the dynamic characteristics of each joint during the robot's movement, as well as the impact of the interaction between the foot and the ground on the robot's movement and body structure can be analyzed, which is of great significance to the design verification and kinematic analysis of the legged robot as a whole.

[0080] The Modelica language used in the present invention is an object-oriented, equation-based, non-causal, multi-domain unified modeling language, which has natural advantages in constructing large-scale complex heterogeneous models involving multiple disciplines and multi-professional couplings such as mechanics, electronics, control, hydraulics, pneumatics, and heat.

[0081] The present invention adopts a legged robot multi-body dynamics modeling method based on Modelica language, which is simpler and faster than the multi-body dynamics modeling method of pure mathematical formulas, and can be mutually verified with mathematically derived dynamic equations.

[0082] The present invention adopts a legged robot multi-body dynamics modeling method based on Modelica language, and the simulation results can be visualized and analyzed, and motion analysis is performed in combination with three-dimensional animation and curves, thereby improving the debugging efficiency and modeling accuracy of the model.

[0083] Figure 2 FIG. 1 is a flow chart of an embodiment of a legged robot modeling system based on Modelica according to the present invention; Figure 2 As shown, a legged robot modeling system based on Modelica provided by an embodiment of the present invention includes the following steps:

[0084] A construction module 10 is used to construct a multi-body dynamics simulation model of a legged robot;

[0085] An acquisition module 20 is used to acquire a standard three-dimensional geometry file derived from drawing a three-dimensional geometry part drawing;

[0086] An associating module 30 is used to associate the legged robot multi-body dynamics simulation model with the standard three-dimensional geometry file during the process of creating the legged robot multi-body dynamics simulation model, so as to visualize the legged robot multi-body dynamics simulation model;

[0087] The setting module 40 is used to set parameters of the visualized multi-body dynamics simulation model of the legged robot and to set the driving of the visualized multi-body dynamics simulation model of the legged robot.

[0088] Figure 6 A schematic diagram of the physical structure of the device provided in the embodiment of the present invention, such as Figure 6 As shown, the device 50 includes: a processor 501 (processor), a memory 502 (memory) and a bus 503;

[0089] The processor 501 and the memory 502 communicate with each other via the bus 503;

[0090] The processor 501 is used to call the program instructions in the memory 502 to execute the methods provided by the above-mentioned method embodiments, for example, including: constructing a legged robot multi-body dynamics simulation model; obtaining a standard three-dimensional geometry file derived from drawing a three-dimensional geometric part drawing; in the process of creating the legged robot multi-body dynamics simulation model, associating the legged robot multi-body dynamics simulation model with the standard three-dimensional geometry file to visualize the legged robot multi-body dynamics simulation model; setting parameters for the visualized legged robot multi-body dynamics simulation model; and setting drives for the visualized legged robot multi-body dynamics simulation model.

[0091] The present embodiment provides a non-transitory computer-readable medium, which stores computer instructions. The computer instructions enable a computer to execute the methods provided by the above-mentioned method embodiments, for example, including: constructing a multi-body dynamics simulation model of a legged robot; obtaining a standard three-dimensional geometry file derived from drawing a three-dimensional geometric part drawing; in the process of creating the multi-body dynamics simulation model of the legged robot, associating the multi-body dynamics simulation model of the legged robot with the standard three-dimensional geometry file to visualize the multi-body dynamics simulation model of the legged robot; setting parameters for the visualized multi-body dynamics simulation model of the legged robot; and setting drives for the visualized multi-body dynamics simulation model of the legged robot.

[0092] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0093] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0094] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

[0096] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A legged robot modeling method based on Modeli ca, characterized in that: The method specifically comprises: Construct a multi-body dynamics simulation model of a legged robot, including: A multi-body dynamics simulation model of a legged robot is established based on the Modelica language and the assembly relationship of the legged robot's mechanical structure. Based on the Modelica language, an appearance module, a kinematic submodule and a posture conversion module of the multi-body dynamics simulation model of the legged robot are constructed, wherein the appearance module includes a body component, a shank component and a foot-end component of the multi-body dynamics simulation model of the legged robot; Obtain the standard 3D geometry file exported by drawing 3D geometry parts drawings; In the process of creating the legged robot multi-body dynamics simulation model, the legged robot multi-body dynamics simulation model is associated with the standard three-dimensional geometry file to visualize the legged robot multi-body dynamics simulation model; Setting parameters of the visualized multi-body dynamics simulation model of the legged robot; The visualized legged robot multi-body dynamics simulation model is driven and set, and the kinematic pairs that need to be driven are driven.

2. The legged robot modeling method based on Modeli ca according to claim 1, characterized in that: In the process of creating the legged robot multi-body dynamics simulation model, associating the legged robot multi-body dynamics simulation model with the standard three-dimensional geometry file to visualize the legged robot multi-body dynamics simulation model includes: The shape module is associated with the standard three-dimensional geometry file, and the path and location of the standard three-dimensional geometry file are specified when importing the standard three-dimensional geometry file.

3. The legged robot modeling method based on Modelica according to claim 2, characterized in that: The parameter setting of the visualized legged robot multi-body dynamics simulation model includes: The component parameters of the shape module are set according to the actual mass parameters of the legged robot, wherein the component parameters include component mass, mass point position, moment of inertia and initialization data.

4. The legged robot modeling method based on Modelica according to claim 3 is characterized in that: The parameter setting of the visualized legged robot multi-body dynamics simulation model also includes: According to the motion relationship of the shape module in the three-dimensional space, the rotation axis direction and initial motion information of the kinematic pair are set; The motion sub-module to which the drive needs to be added is set to generate an external signal interface.

5. The legged robot modeling method based on Modelica according to claim 4 is characterized in that: The parameter setting of the visualized legged robot multi-body dynamics simulation model also includes: The parameters of the posture conversion module are set to determine the relative position and posture relationship between adjacent components.

6. The legged robot modeling method based on Modelica according to claim 2, characterized in that: The step of setting the drive of the visualized multi-body dynamics simulation model of the legged robot and adding drive to the kinematic pair to be driven includes: Setting a contact module, and setting ground stiffness and damping based on the contact module to simulate different ground environments; Add drive to the kinematic pair that needs to be driven, convert the output signal of the diagonal trotting module into a physical signal and output it to the kinematic pair to control the rotation of the kinematic pair.

7. A legged robot modeling system based on Modelica, characterized in that: include: Building module for constructing a multi-body dynamics simulation model of a legged robot; The building blocks are also used to: A multi-body dynamics simulation model of a legged robot is established based on the Modelica language and the assembly relationship of the legged robot's mechanical structure. Based on the Modelica language, an appearance module, a kinematic submodule and a posture conversion module of the multi-body dynamics simulation model of the legged robot are constructed, wherein the appearance module includes a body component, a shank component and a foot-end component of the multi-body dynamics simulation model of the legged robot; An acquisition module is used to acquire a standard 3D geometry file exported by drawing a 3D geometry part drawing; an associating module, used for associating the legged robot multi-body dynamics simulation model with the standard three-dimensional geometry file during the process of creating the legged robot multi-body dynamics simulation model, so as to visualize the legged robot multi-body dynamics simulation model; The setting module is used to set parameters of the visualized multi-body dynamics simulation model of the legged robot and to set the drive of the visualized multi-body dynamics simulation model of the legged robot.

8. A device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A non-transitory computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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