一种半圆柱机体被动移动装置的动力学建模

Dynamic Modeling of A Passive Mobile Device With Semi Cylinder Body

设计了一种半圆柱机体被动步行装置,该装置无任何驱动器和控制器,通过与斜坡间的脱离、滚动、黏滞等接触状态的变换,能够周期性、稳定地走下斜坡。半圆柱机体被动步行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。应用多体系统动力学方法建立了半圆柱机体被动步行装置系统的动力学模型,并从三维动力学仿真和原理样机试验两方面详细分析了半圆柱机体被动步行装置的运动过程,得到了相关运动和动力参数的变化曲线。模拟仿真与试验结果均表明,半圆柱机体被动步行装置运动周期可细分为5个过程,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。

The paper designs a semi-cylinder-body passive walking device, which can walk stably and periodically along the slope down through the contact state transformation of detaching, rolling 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 device. The dynamic model of the 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 the semi-cylinder body passive walking device in one cycle can be divided into five processes. The results also verified the device is able to achieve cyclical, stable passive mobile and the dynamics model is reasonable.