摘要
以青蛙为原型设计了一种仿青蛙跳跃机器人。该机器人以气动人工肌肉为驱动器,使得机器人具有更好地仿生性能。将机器人的运动分为3个阶段,进行了运动学分析,并运用拉格朗日法进行动力学分析,获得动力学方程。利用ADAMSMatlab仿真验证了动力学方程的正确性,为进一步的研究工作奠定了基础。
A bionic frog pneumatic hopping robot has been designed based on the motional characteristics of the frog.Artificial pneumatic muscles has been chosen to drive of the robot,because pneumatic muscles gives the robot better bionic performance.In this paper,the motion of the robot is divided into three phases.After the kinematics analysis finished,by using the Lagrangian method,dynamics analysis can be done and the kinetic equation can be obtained.ADAMSMatlab simulation is used to verify the correctness of kinetic equations,and to establish the foundation for further research.
出处
《机械与电子》
2015年第11期72-76,共5页
Machinery & Electronics
基金
国家自然科学基金(51005052)
机器人技术与系统国家重点实验室自主课题资助项目(SKLRS201001C)
