摘要
根据袋鼠的结构特点,建立了具有欠驱动关节的液动三刚体跳跃机器人模型,关节处加装扭转弹簧,实现了关节的柔性和储能。建立了机构在着地阶段的欠驱动动力学方程,分析了主被动关节间动力学耦合效应。结合实例求得液压缸驱动力变化规律与机器人理论姿态图。建立实体模型,并运用ADAMS进行欠驱动动力学仿真。结果表明:通过动力学耦合来控制欠驱动关节的位置是可能的,与理论姿态图对比结果也验证了所提出方案的可行性及所建模型的正确性。
The hopping robot model with three rigid body drived by hydraumatic with underactuated joints is established based on the structural characterization of kangaroo,using torsion spring to simulate the flexible joints and energy storage. The system＇ s underactuated dynamic equations are derived during the touch-down phase.According to the example,the hydraulic driving force＇ s law and the theory profile graph are studied by the simulation with MATLAB7. 0. Then the physical model is established and applied to the underactuated dynamic simulation based on ADAMS. The present results show that the position of underactuated joints controlled by dynamics＇ s coupling is possible. In addition,it is verified that the proposed scheme is feasible and the model is correct by comparing with theoretical stance figure.
出处
《机械科学与技术》
CSCD
北大核心
2014年第12期1791-1794,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(50975230)
国家863项目(2007AA04Z207)
西北工业大学研究生创业种子基金项目(Z2013022)资助
关键词
跳跃机器人
液压
欠驱动
耦合
动力学
acceleration
computer simulation
computer software
coupling
dynamics
efficiency
energy storage
hopping robot
hydraumatic
kinematics
MATLAB
matrix algebra
underactuation
