弹跳机器人动力学分析

Dynamics Analysis of Hopping Robots

弹跳机器人可以跃过数倍于自身尺寸的障碍物或沟渠,对地形有较强的适应力。但是相对于已经实用化的其他类型机器人,弹跳机器人目前还处于研究阶段。本文把驱动机构和弹跳机构一起加以考虑,综合各种阻尼的影响,构建了两类弹跳机器人模型。然后采用二阶拉格朗日方程,对其进行相应的动力学分析和比较,求出模型的动力学标准状态方程和弹跳高度的计算公式;并通过计算机模拟结果和试验结果的对比说明了分析的正确性。本文的分析结果同时适用于连续型和间隙型弹跳机器人的动力学分析。

Two hopping robot models are built. In robot modeling, the dynamics of the actuator and all kinds of the damp is considered. In the analytical process, hopping movements are divided into four stages. The second order Lagrange formula is used to make the analysis and the comparison. State equa.tions of two hopping models and the hopping height equation are derived finally. Comparison between the computer simulation and the experimental result shows the correctness of the analysis. The result show that the hopping model of the nonlinear leg is more excellent ＇than the hopping model of the linear leg. The obtained formulas can be applied to continuous and discontinuous hopping robots.