仿生机器蟹运动系统能量分析

Energy analysis on motion system of bionics robotic crab

对仿生机器蟹行走过程中关节能量进行分析,目的是决定系统性能和在系统运动过程中的运动变量的最优选择。这些运动变量主要包括步态、占空系数、躯体高度、步长、最大的抬腿高度等。定义了平均功率、平均功率偏差、平均驱动力矩3个指标,用于定量地衡量仿生机器蟹行走过程中关节能量的变化。依据指标设计了一系列的试验,得到了运动参数与关节能量之间的关系及运动参数选取的参考数据。

Carrying out analysis on joint energy m the walking process of bionics robotic crab, its purpose is to determine the property of system and to determine the optimal choice of motion variables in motion process of the system. These motion variables mainly contain gait, duty factor, body height,step length and maximum height of leg raise etc.. Three targets of mean power and mean power deviation and mean driving moment were defined, and it was applied to measure quantitatively the variation of joint energy in the walking process of bionics robotic crab. A series of experiments were designed in accordance with these targets, the relationship between motion parameters and joint energy and the reference data for the selection of motion parameters were obtained.