仿袋鼠机器人跳跃过程中的能量变化分析  

Energy Consumption Change in Kangaroo Robot During its Hopping

作　　者：葛文杰[1] 沈允文[1] 黄杰[1] 李向阳[1] 

机构地区：[1]西北工业大学机电学院,西安710072

出　　处：《机械科学与技术》2007年第6期677-680,共4页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(50375120)资助

摘　　要：基于单质量-弹簧模型,研究了能够使弹跳机器人单位距离能量损失最小的步态,给出了能量的消耗表达式。考虑腿部的摩擦力以及电机电阻能量消耗的影响,导出了能量损失最小的着地角计算公式,并结合实例进行了计算对比分析和公式验证,给出了利用一个系数修正且更符合实际情况的最优着地角计算公式,为弹跳机器人的设计提供了初步的理论基础。Using the single mass-spring model, we study the gaits of a hopping robot for the purpose of minimizing the loss of energy per unit distance covered and present our expressions of energy consumption. Taking into account the friction of its legs and the energy consumption by the resistor of its motor, we derive the formula for calculating the ground-touching angle at which its energy loss is minimal. We also present an instance to do contrastive analysis and verification of the formula, and an equation for calculating the optimal ground-touching angle which uses one coefficient to modify the angle and is more suitable to reality. The study provides a theoretical foundation for the design of a hopping robot.

关 键 词：弹跳机器人 单质量-弹簧模型 能量最小优化 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]