摘要
根据袋鼠柔性脚部的生物结构及跳跃的特点,建立了具有柔性脚的仿袋鼠跳跃机器人刚柔混合模型,并分别对刚性构件系统和柔性构件系统建立子系统动力学模型。结合实例的数值仿真分析结果表明:柔性脚能有助于机器人在着地过程中保持落地运动平稳性,增大起跳时间和调整起跳角度,从而有利于增加起跳速度和跃远度,更符合生物的特征。
A rigid-flexible model is established to analyze the hopping kangaroo robot based on a kangaroo foot＇s biological architecture. Sub-models are derived from a rigid subsystem and a flexible subsystem separately, and the Lagrange equations and the mode assumption method are used to simulate the robot model. Computer simulation shows that the flexible foot helps the hopping robot to improve the motion stability, increase the time of taking-off, and adjust the jumping angle, which is testified by an example.
出处
《机械科学与技术》
CSCD
北大核心
2008年第9期1142-1145,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
863计划项目(2007AA04Z207)
国家自然科学基金项目(50375120)
西北工业大学研究生创业种子基金项目(Z200726)资助
关键词
仿袋鼠机器人
柔性脚
刚柔混合
kangaroo robot
flexible foot
rigid-flexible model
