摘要
针对目前跳跃机器人模型的局限性,仿照袋鼠的身体结构,依据其跳跃运动的特点,设计了一种非SLIP模型(弹性负载倒立摆模型)的单足跳跃机器人系统模型,并在对其进行运动学、动力学分析及优化设计的基础上,设计出了各部分整体结构。该机器人模型具有更好的仿生学特征,其特点是:体积小、重量轻、能耗低、速度快、适应能力强。
Aiming at the limit of present hopping robots and in accordance with the structure of kangaroo body and its characteristics of hopping, this paper designs a model of one - leg hopping robot system which is different from SLIP, and on the basis of its analysis of kinematics and dynamics and the optimization of the design goes into details to describe the whole structure of various components. This robot model shows better feathers of bionics with advantages including small size, light weight, low energy consumption, high speed and strong adaptability.
出处
《北京工业职业技术学院学报》
2009年第1期9-11,共3页
Journal of Beijing Polytechnic College
关键词
跳跃机器人
机构学模型
机械结构设计
hopping robots
dynamic modeling
design of mechanical structure
