可行走着陆器的牛顿-欧拉法动力学研究

Newton-Eulerian Dynamics of a Walkable Lander

基于一种具有串并联混合腿足机构的四足可行走着陆器,为摸清其行走过程中的关节能耗问题,采用牛顿-欧拉方法进行了动力学建模研究。首先,采用D-H法建立串并联混合腿足机构的关节坐标系,进行正向运动学和逆向运动学的推导;然后在运动学模型的基础上,采用牛顿-欧拉方法建立着陆器整机的全状态动力学模型,该模型以足端相对轨迹为输入,获取着陆器在运动过程中各关节受力情况的变化曲线;最后,采用五次样条插值法规划一段运动轨迹,用ADAMS仿真软件进行着陆器虚拟样机仿真。经验证,该动力学模型理论计算数值和虚拟样机仿真数值具有相同的变化趋势,证明了模型的有效性,可以作为后续能耗模型建立和优化的基础。

Based on a four-legged walkable lander with a series-parallel hybrid leg-foot mechanism,the Newton-Euler method is applied to study the dynamic modeling of the joint energy consumption problem during walking in order to understand the problem of joint energy consumption during walking.Firstly,the D-H method is used to establish the joint coordinate system of the series-parallel mixed leg-foot mechanism,and the forward kinematics and inverse kinematics are derived.Secondly,on the basis of the kinematic model,the Newton-Euler method is used to establish a full-state dynamic model of the lander,which takes the relative trajectory of the foot end as the input to obtain the change curve of the force in each joint during the movement of the lander.Finally,the five-order spline interpolation method is used to plan a section of motion trajectory,and the ADAMS simulation software is used to simulate the virtual prototype of the lander.It is verified that the theoretical calculation value of the dynamic model and the numerical simulation result of the virtual prototype have the same change trend,which proves the validity of the model and can be used as the basis for the establishment and optimization of subsequent energy consumption model.