摘要
为提高对较高的障碍物或沟渠的适应能力,对弹跳机器人进行机构设计并对其进行动力学理论分析。机器人的弹跳机构以对称形式为基础,选用气缸作为其动力源;以第二类拉格朗日方程和虚位移原理为理论基础,对机构进行动力学分析,并对弹跳机构进行虚拟样机仿真,得出其水平和垂直方向上的位移、速度、加速度的变化曲线图。仿真结果表明:该机器人能够通过较高障碍物,而双作用单活塞气缸的使用则为实现连续跳跃提供了可能性。
In order to improving adaptability for high obstacle or ditch, carry out mechanism design and dynamic theory analysis for hopping robot. The robot hopping mechanism takes symmetric form as base, and select cylinder as power source. Use the second Lagrange equation and virtual displacement principle as the theory base, carry out dynamic analysis for mechanism, and use virtual prototype for hopping machine, at last acquire curve diagram for displacement, speed and acceleration in horizontal and virtual directions. The simulation results show that the robot can jump over high obstacle, and the dual-action single piston cylinder can make the continuous hopping come true.
出处
《兵工自动化》
2017年第5期85-87,共3页
Ordnance Industry Automation
