摘要
针对跳跃机器人在整个运动过程中,系统所受约束不断发生变化,导致了系统动力学模型的复杂化问题,对单足跳跃机器人进行运动学分析,建立了机器人在着地阶段和腾空阶段的动力学模型,对动力学模型进行了数值仿真,验证了动力学方程的正确性,为机器人结构优化设计和运动控制提供了理论依据.
The constraints of hopping robot are changing in the whole motion,which results in the complication of the system dynamics model. The kinematics of a planar one - legged hopping robot is analyzed and the dynamics models in the stance and flight phases are founded. The correctness of these models is verified by using numeric simulation, thus it is possible to offer theory guidance for optimization design of the robot and control of the system＇s motion.
出处
《机械与电子》
2006年第10期45-48,共4页
Machinery & Electronics
关键词
跳跃机器人
动力学模型
数字仿真
hopping robot
dynamic modeling
numeric simulation
