仿袋鼠跳跃机器人着地阶段的动力特性研究

Study on the dynamic property in the touchdown phase of kangaroo simulative jumping robot

根据袋鼠的生理结构及运动特征,提出了仿袋鼠跳跃机器人的单腿模型,建立了相应机构在着地阶段的运动学和动力学方程。结合实例,用MATLAB计算了机器人在着地阶段关节力矩和地面作用力随时间变化的规律,并对其进行了分析和讨论。结果表明:踝关节的输入力矩是膝关节的2.5倍,是髋关节的6倍,因此踝关节的驱动力矩是整个机器人完成跳跃的决定因素之一。此动力学研究结果为仿袋鼠跳跃机器人的设计分析及跳跃运动的精确控制提供了理论基础。

In accordance with physiological structure and kinematic characteristics of kangaroo, the single leg model of kangaroo simulative jumping robot was put forward and the kinematic and dynamic equations of the corresponding mechanism in the touchdown phase were established. Combining with a living example and utilizing MATLAB, the rules for the joint moment and ground acting force that varied along with time in the touchdown phase of robot were studied, and analysis and discussion upon the rules had been carried through. The result showed that the inputting moment of anklebone is 2.5 times of the moment of knee joint and 6 times of the moment of hipbone joint, therefore the driving moment of anklebone is one of the decision factors for the entire robot to accomplish the jumping action, This result of dynamic study provided theoretical basis for the designing analysis of kangaroo simulative jumping robot and the precision control of jumping movement.