双足溜冰机器人动力学  

Dynamic Analysis of Biped Ice-Skater Robot of Passive Wheel Type

作　　者：徐子力[1] 吕恬生 宋立博[1] 徐振华[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《上海交通大学学报》2007年第8期1282-1286,1291,共6页Journal of Shanghai Jiaotong University

摘　　要：利用轮滑原理,研制出双足从动轮式溜冰机器人(BISR).根据机器人双足不离地滑行的步态特点,提出了机器人的简化动力学模型,并运用非完整约束存在时的Maggi方程,推导出机器人双足不离地滑行时的动力学微分方程.仿真算例和样机实验证明了所提出的动力学建模方法的合理性.This paper presented a new passive wheel type of biped ice-skater robot（BISR） subjected to non-holomonic constraints on the basis of ice-skating principle. The paper narrated its motion principle and construction. After the model was simplified and the coordinate systems were established, the motion differential equations of the robot were obtained with the generalized Lagrange Equation-Maggi Equation when the nonholonomic constraints existed. Actual examples and simulation were given, and some related conclusions were drawn.

关 键 词：双足溜冰机器人 动力学 非完整约束 Maggi方程 

分 类 号：TP242.1[自动化与计算机技术—检测技术与自动化装置]