一种新型跳跃机器人的运动特性研究

Research on Locomotion Characteristics of a Novel Hopping Robot

针对一种新型的跳跃机器人,提出了其单腿跳跃机构的分析模型。采用D-H方法,建立了跳跃机器人着地和腾空两个阶段的运动学方程;开展正、逆运动学研究,给出了机器人在跳跃过程中的运动位姿;利用Adams软件,对跳跃机器人的弹跳过程进行了动力学特性仿真。研究结果表明,仿真得到的跳跃机器人水平/竖直方向的位移、水平/竖直方向的速度曲线的变化趋势均与试验结果相吻合,从而证明了所建立的新型跳跃机器人结构模型的可行性和机器人运动特性研究方法的有效性。

One legged mechanism model of a novel hopping robot is presented.The kinematics equations during stance and flight phases are established and its direct and inverse kinematics characteristics are studied by the D-H method.The expression about the hopped position is given.Dynamic characteristics of the hopping robot are analyzed by Adams software.The simulation results confirm that the horizontal/vertical displacement curves and horizontal/vertical velocity curves are consistent with the experimental ones.The research shows the feasibility of this hopping model and validity of the research method.