爬台阶机器的动力学建模及稳定性分析  

DYNAMIC MODELING AND STABILITY ANALYSIS OF STAIR-CLIMBING MACHINE

作　　者：顾翔[1] 傅程[1] 林建龙[1] 

机构地区：[1]北京工商大学机械自动化学院,北京100037

出　　处：《北京工商大学学报（自然科学版）》2004年第5期19-22,共4页Journal of Beijing Technology and Business University:Natural Science Edition

摘　　要：对自行设计的一种自动爬台阶机器的运动过程进行了分析,建立了其正常运动状态和翻转状态的动力学模型,并以阻翻能量裕量作为定量衡量爬台阶机器稳定性的评价指标.在各部件不与台阶相干涉的条件下,绘出了质心的位移轨迹曲线.This article analyses the move procedure of stair-climbing machine and build up a dynamic model of its normal motion and rollover process. Based on energy consideration,the rollover prevention energy reserve of the stair-climbing machine is derived and used as an evaluation index of stair-climbing machine rollover stability for stability analysis. Under the non-interference condition between the parts and steps, the coordinate value of the position of the equipment nature centre is calculated and therefore its move curve is drawn out.

关 键 词：动力学建模 机器 稳定性分析 翻转 部件 自动 设计 台阶 位移 轨迹曲线 

分 类 号：N94[自然科学总论—系统科学] TP242[自动化与计算机技术—检测技术与自动化装置]