考虑柔性关节的仿袋鼠跳跃机器人落地稳定性研究

Research on landing stability of hopping robot considering flexible joint

对具有柔性关节的仿袋鼠跳跃机器人落地稳定性进行了研究。用拉格朗日方法建立了机构在着地阶段的动力学方程。结合实例,运用Matlab和Adams软件对机器人进行仿真分析,给出了机器人在着地阶段的各关节转角、关节驱动力矩、着地压力及ZMP随时间的变化规律。分析结果表明:膝关节,特别是踝关节引入柔性关节,不仅能显著地吸收落地能量而获得落地缓冲能力和降低关节输入力矩峰值而减小驱动元件的功率,而且能有效地提高跳跃机构的弹跳能力和落地稳定性。

This paper studies the stance stability of hopping robot considering flexible joint, we establish the model for uniped hopping mechanism of bionic kangaroo with flexible joint. Adopt Lagrange method to establish dynamics and kinematics equations for its touchdown phase. With practical example and using Matlab and Adams to make simulation analysis, we obtain the changing rule of each joint angle, joint driving torque, the ground pressure and ZMP with time of the touchdown phase. The result indicate that knee joint, especially ankle joint introducing flexible joint, can not only significantly absorb enough energy of landing to get buffer capacity and reduced joint torque peak to reduce the driving element power, but also effectively improve the jumping ability and landing stability of bionic kangaroo robot.