摘要
根据袋鼠运动结构及跳跃的特点,且考虑尾巴对其运动姿态的影响,设计了带尾巴的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M atlab7.0计算和仿真了模型在着地阶段的腿部长度、质心变化、地面反力和关节力矩随时间的变化规律,并将髋关节力矩、质心变化和地面反作用力与无尾时进行了对比分析和讨论。仿真结果表明:尾巴能显著影响此机构的跳跃姿态和跃远度,能缓解落地瞬间的地面冲击,但对髋关节的力矩大小影响不大。本文研究为仿袋鼠跳跃机器人的设计与控制研究提供了一定的理论基础。
Considered the tail＇s influence on its stance, a kangaroo robot having tail was designed based on kangaroo＇s structure and hopping characteristics. Kinematics and dynamics of the model in the contact process were established. Curves that the length of leg, the change of centroid, the ground force and joint moments with time in the process were obtained using Matlab 7. 0. The hip joint moment, the change of controid, and the ground force were analysed and discussed in the two different form that one has tail and the other does not. Computer simulation shows that the tail has great influence on the kangaroo robot＇s stance and can decrease the stroke of the ground; the need of the hip joint moment does not change evidently in the two different form. The research will be the foundations for the machine design and the control.
出处
《机床与液压》
北大核心
2007年第8期1-4,共4页
Machine Tool & Hydraulics
基金
国家自然科学基金(50375120)
