考虑脚部柔性的仿袋鼠跳跃机器人运动特性研究  

Locomotion Analysis of Hopping Kangaroo Robots Considering Foot Compliance

作　　者：李向阳[1] 葛文杰[1] 杨方[1] 

机构地区：[1]西北工业大学机电学院,陕西西安710072

出　　处：《机器人》2006年第4期374-378,399,共6页Robot

基　　金：国家自然科学基金资助项目(50375120)

摘　　要：基于对袋鼠结构及跳跃运动特点的研究,设计了具有柔性脚的仿袋鼠跳跃机器人单腿机构模型,建立了相应机构在着地阶段的运动学和动力学方程.结合实例,用M atlab 6.5计算和仿真了模型在着地阶段各关节转角、柔性脚与地面接触长度、地面支承力和关节力矩随时间的变化规律曲线.结果分析表明:模型跳跃的起跳时间约占着地时间的2/3,当柔性脚与地面接触长度最大时,地面作用力也达到最大;踝关节的输入力矩要大于髋关节的输入力矩.此运动研究为仿袋鼠跳跃机器人的设计以及精确控制提供了理论基础.A one-legged mechanism model for hopping kangaroo robot with compliant foot is designed based on studying the structure and hopping characteristics of kangaroo, and the kinematic and dynamic equations of relevant mechanisms during the stance phase are established. According to the examples, the following simulation curves with time during the stance phase are obtained by calculation with Matlab 6.5： angle of each joint, contact length between the compliant foot and ground, the ground supporting force, and joint torques. Computer simulation and analysis results show that the take-off time takes 2/3 of the whole stance time ; the vertical ground reaction force reaches max when the contact length between the compliant foot and ground reaches max; the input torque of the ankle joint is bigger than that of the hip joint. This work lays a foundation for mechanism design and accurate control of hopping kangaroo robots.

关 键 词：仿袋鼠机器人 单腿模型 柔性脚 动力学 力矩 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]