被动移动机器鸭非光滑动力学建模

Non-smooth Dynamics Modeling of Passive Walking Duck Robot

基于含摩擦和碰撞效应的非光滑动力学原理设计了一种被动移动机器鸭,该装置无任何驱动器和控制器,通过与斜面间的脱离、滑动、黏滞等接触状态的变换,能够周期性、稳定地走下斜面。机器鸭装置的运动存在着多点摩擦、碰撞问题,难以准确确定足-地的瞬时接触状态。应用非光滑多体系统动力学方法建立机器鸭系统的动力学模型,从三维动力学仿真和原理样机试验两方面详细分析了机器鸭装置的运动过程,得到了相关运动和动力参数的变化曲线。由曲线可知,机器鸭装置运动周期可细分为9个过程,且初始位姿的变化不会改变装置稳定后的运动行为。模拟仿真与试验结果均表明,机器鸭能够实现稳定周期性的被动行走,验证了动力学模型的正确性。

An unpowered wadding duck robot based on the non-smooth dynamics with friction and impact effects is designed. The duck robot can walk stably and periodically along the slope down through the contact state transformation of detaching, sliding and sticking without any external drives and controls. It is very difficult to accurately determine the instantaneous contact state between feet and slope because there are multiple points of friction and collisions in the robot. The dynamic model of the robot system is proposed and its movements are studied by three-dimensional simulation and principle prototype experiment. Simulation and experimental results show that the movement of duck robot in one cycle can be divided into nine processes. The changes of the imtial do not alter the stable movement behavior of the robot. The dynamics characteristics of the robot are investigated and the time history of the dynamic parameters simulations show an obvious cyclical variation, which verifies the robot is able to achieve cyclical, stable passive mobile and the dynamics model is reasonable.