基于扭转振动的多步态移动装置的运动学建模

Modeling of Multi- Gaited Mobile Device Based on Torsional Vibration

为了实现移动机器人多步态稳定运动,提出一种新型的利用自身的结构特性来设计移动装置的方法。通过对其倒立的U型结构的设计,再分别对该移动装置滑、走、跑和跳4个步态进行运动学建模,最后利用ADAMS仿真实现了该移动装置稳定的多步态的运动。然后根据仿真结果给出了各运动相在每个步态周期中的足地接触距离以及横梁质心位移的变化情况,最后讨论了影响该移动装置多步态运动的因素,如机体与两腿的长度之比rs、共振频率和电机转速等。结果表明该移动装置实现了多步态的运动,对未来研究多步态移动机器人提供了理论基础。

In order to achieve multi-gaited stable movement of mobile robot,a method to design mobile device by using the special structure itself was put forward. Through designing the inverted ＇U＇ structure and building kinematics models of slide,walk,run,jump gaits of the mobile device,then in the ADAMS simulation,the stable movement and multigait motions ofmobile device were achieved. Then according to the simulation results,the distance between foot and ground,and the shift of cross girder＇s centroid of each gait in the movement were given. The factors Influencing mobile device were also discussed in the end,such as the length ratio rsbetween the body and the leg,the resonance frequency and motor rotation speed. The results indicate this mobile device achieves multi-gaited movement,this research provides theoretical basis for such robot in the future study.