仿袋鼠机器人腾空阶段跳跃运动特性研究  

Research on the Kinematic Characteristics of Bionic Kangaroo-Hopping Robot during Flight Phase

作　　者：葛文杰[1] 黄杰[1] 杨方[1] 

机构地区：[1]西北工业大学,西安710072

出　　处：《中国机械工程》2007年第21期2521-2524,共4页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50375120)

摘　　要：针对袋鼠生物体结构及其腾空阶段的运动特点,提出了仿袋鼠跳跃机器人腾空阶段的运动特性分析方法。采用D-H法建立了仿袋鼠跳跃机器人腾空阶段的运动学分析模型,基于拉格朗日方法推导了其腾空阶段的动力学方程,最后利用MATLAB结合实例对此模型进行了仿真分析。结果表明,仿袋鼠跳跃机器人的髋关节和膝关节对于整个机器人的空中姿态调节有着决定性的作用。研究结果为仿袋鼠跳跃机器人的试验研究和驱动器的选择提供了理论参考。Based on the body configuration and kinematics characteristics of kangaroo in its flight phase, a new method to analyse the torque characteristics was presented. A model to simulate the kangaroo robot in the flight phase was also founded using D-- H method. The equations of the model were derived using Lagrange method and the model was simulated by Matlab at last. The results show that, the hip and knee joints play the most important role in tuning the configuration of kangaroo hopping robot in flight phase, which is the basis for the experimental research and choosing driving actuators.

关 键 词：仿袋鼠跳跃机器人 运动学特性 动力学特性 仿生学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]