从动轮式溜冰机器人动力学分析

Dynamic Analysis of Passive Wheel Type Ice-Skater Robot

利用轮滑原理 ,设计了腿轮混合结构从动轮式溜冰机器人。在考虑滚轮与地面之间摩擦力和滚轮切向纯滚动假设基础上 ,利用Maggi方程建立了机器人非完整系统动力学模型 ,并使用加速度空间法和纽马克法对所得运动微分方程进行了二阶解耦和求解 ,并给出实际算例。该建模方法对非完整系统动力学分析具有一定的借鉴意义。

An ice-skater robot of leg-wheeled passive wheel type was designed on the basis of rolling and skating principle. With the friction force between the wheels and the ground and the assumption that the pure-rolling motion in the tangential direction of the wheels taken into consideration, the nonholonomicdynamic model was establishedwith the Maggi Equation. At the same time, the method of transforming the nonholonomic and the holonomic constraints into the acceleration space to decouple the motion differential equations was discussed. And the Newmark recursive matrix was used to find the solutions of the differential equation group. A practical example is given, and the simulation results show that our modeling method is correct and reliable.