仿袋鼠单腿跳跃机器人动力学建模与仿真

Dynamics Modelling and Numerical Simulation of One-leg Hopping Kangaroo Robot

根据自然界中袋鼠的骨骼结构设计了仿袋鼠单腿跳跃机器人的机构模型.其机构设计充分利用产生被动动力学的机械结构来减少运动中的能耗.仿袋鼠单腿跳跃机器人由关节腿、身体和尾巴三部分组成,其中关节腿由两连杆、旋转副及扭簧连接而成.采用拉格朗日方法建立支撑相和飞行相的动力学模型,并用MATLAB7.0对动力学模型进行了数值仿真,仿真结果验证了动力学模型的正确性,为后续的机器人结构优化设计和运动控制奠定了理论基础.

Based on the skeleton of kangarooes in nature, the model of one-leg hopping kangaroo robot is designed. The design makes full use of the mechanical structure which produces passive dynamics to reduce the energy dissipation during motion. The robot is composed of three parts： articulated leg, body, and tail. The articulated leg has two links connected by a rotational joint and the torsional spring. Using the Euler-Lagrange method, the dynamics models of the robot in the standing phase and flying phase are established, and numerical simulation of the dynamics model carried out with MATLAB7.0, The result of the simulation verifies the correctness of the dynamics model, which provides a theoretical basis for the structure optimizition and motion control of the robot.