考虑拓扑柔性脚趾的仿袋鼠机器人着地特性分析

Kangaroo-robot dynamics analysis of touchdown phase considering To Po flexible toe

根据袋鼠的生物结构特性,建立了具有柔性脚趾的仿袋鼠跳跃机器人刚柔混合模型,并对柔性脚趾结构进行拓扑优化。分别采用拉格朗日法和有限元方法对刚性构件系统和柔性脚趾系统建立子系统动力学模型。结合实例,利用MATLAB进行了计算和仿真,结果表明:采用拓扑柔性脚趾可以实现机器人预期运动的同时,有效缓解地面冲击与振动,降低机器人各关节的驱动力矩,实现脚趾落地能量积蓄和起跳释放的功能,提高机器人的起跳能力和运动平稳性。

A rigid-flexible model was established to analyze the hopping kangaroo robot with flexible toe based on kangaroo＇s biological architecture.The topology optimization was used to de- sign the structure of kangaroo＇s flexible toes. The dynamics equations of the rigid body model and the flexible-toe model were established with the Lagrange and the finite element method separately. Then, the characteristics of the robot were studied by using MATLAB to calculate and simulate according to the examples. The results show that flexible toe can achieve the expected movement, reduce joint＇s torques effectively, obtain the capability of store and dissipate part of the landing impact energy, as well as improve the take-off performance.