摘要
根据袋鼠的生物结构特性,建立了液压驱动的欠驱动仿袋鼠跳跃机器人三刚体模型。利用拉格朗日方法建立了机器人在着地阶段的动力学方程及主、被动关节动力学耦合方程,利用Maple15进行符号计算得出耦合因子。结合实例,应用Matlab7.0分别对碰撞力、地面的反作用力、系统动能、及总质心在y方向上的位移变化进行了计算和仿真;并与全驱动的仿袋鼠跳跃机器人刚性模型进行了对比分析。还通过跳跃机器人两种模型的跳跃模拟对比实验,用加速度传感器测得落地冲击时质心加速度曲线。结果表明:弹性元件的引入有效地起到了缓冲的作用,减轻了着地时机器人与地面的振动和冲击,提高了跳跃机器人的落地稳定性,节省了系统损耗的能量。
An under-actuated three rigid model driven by hydraumatic is established to analyze the hopping kangaroo based on kangaroo＇s biological architecture. The system dynamic equations and dynamic coupling equations of passive and active joints are de- rived during the touch-down phase. For gaining coupling factor, sign calculating is proceeded with Maple 15. According to the ex- ample, the characteristic of the robot is studied by calculation and simulation with Matlab7.0, such as impacting force, the force from ground, kinetic energy of system and displacement of center of total mass in y direction, and the change curves of them are compared with an actuated rigid model for bopping kangaroo robot. A contrast experiment of two model is carried out, and the acceleration of center of mass when collide with ground are measured by an acceleration sensor. The result shows that importing of elastic parts can effectively reduce the impact during the touch-down phase, improve the touch-down stability of the robot, and save energy consumed in the system.
出处
《机械设计》
CSCD
北大核心
2013年第6期32-37,共6页
Journal of Machine Design
基金
国家自然科学基金资助项目(50975230)
国家863计划资助项目(2007AA04Z207)
关键词
袋鼠机器人
欠驱动
落地冲击
动力学
kangaroo robot
under-actuated
landing impact
dynamics
