仿袋鼠柔性跳跃机器人的驱动力特性研究

Research on the Driving Characteristics of Bionic Kangaroo-hopping Robot

依据袋鼠生物体的运动结构和跳跃运动特点,利用扭转弹簧模拟其关节柔性和肌肉的储能作用,提出仿袋鼠柔性跳跃机器人的伪刚体机构模型。应用凯恩法建立仿袋鼠跳跃机器人的动力学方程。基于MATLAB6.5,结合实例对机器人的运动和驱动力特性进行了仿真分析。分析结果表明:利用柔性机构可降低仿生跳跃机器人跳跃运动所需关节驱动力和能量消耗,同时也揭示了袋鼠跳跃运动快而耗能低的规律。

According to kangaroo＇s hopping configuration and characteristics, a pseudo--rigid-- body model of bionic kangaroo--hopping mechanism was presented, which used torsional spring to model the flexibility of joint and the energy storage characteristics of its muscle. Kinematic and dynamic equations of this system using Kane method were established. Computer simulation of joint kinematics and driving forces was attained with MATLAB6.5 based on an example. The results are analyzed, which show that compliant mechanism can reduce joint driving force and energy cost. At the same time the results confirm the law that kangaroo carries out hopping higher and faster with lower energy cost.