仿青蛙机器人跳跃之力学分析与轨迹优化

Analysis of Jumping Mechanics and Trajectory Optimization for Frog Inspired Robots

目前,相比传统的轮式机器人,离散性运动的跳跃机器人具有更好的移动性能,得到了广泛的应用.本文从仿生学角度出发,选择具有优秀跳跃性能和合理运动结构的青蛙作为研究对象,建立了平面连杆机构仿青蛙机器人跳跃模型.在该模型的基础上,建立了仿青蛙机器人起跳阶段的运动学和动力学模型,得到了起跳阶段机器人各关节力矩与各关节运动轨迹,质心速度,质心加速度间的关系.结合遗传算法,对机器人在起跳阶段的跳跃轨迹进行了优化.在此基础上,从能量角度出发,对机器人在腾空阶段的跳跃轨迹进行了优化,得到了机器人最佳的跳跃轨迹.结合Matlab仿真分析,验证了方案的正确性和可行性.

Comparing with the wheeled robot, the jumping robot has advantages of high motion efficiency due to its discrete movement. In this dissertation, the frog is chosen as the research object of the jumping robot from the bionics viewpoint because of its excellent jumping ability and movement structure. The structure of the frog is considered as a planar linkage and a theoretical analysis is conducted for the kinematics and kinetics of the jump. The kinematic model of each joint is established by analyzing the relationship between the motion trajectory of each joint, the velocity of center-of-gravity, and the joint torque during the jump. The trajectory of the robot in the air is optimized by the Genetic algorithm. Based on the energy principle, the optimized jumping path of the robot in the flight phase is obtained. The correctness and feasibility of the scheme are verified by MATLAB simulation analysis.