仿袋鼠跳跃机器人运动和力传递性能研究  

A Study of the Motion and Force Transmission Performance of a Bionic Kangaroo-hopping Robot

作　　者：陈安军 

机构地区：[1]江南大学机械工程学院,无锡214122

出　　处：《机械科学与技术》2008年第7期971-975,980,共6页Mechanical Science and Technology for Aerospace Engineering

摘　　要：在仿袋鼠机器人机构模型的基础上,建立了跳跃过程着地阶段的运动学方程;通过关节空间与操作空间速度的变换关系,定义仿袋鼠机器人跳跃运动速度和力方向可操作度;以速度和力方向可操作度为性能指标,度量仿袋鼠跳跃机器人在操作空间中的运动和力传递性能,解释了袋鼠起跳瞬间小腿与地面垂直是为了保证有足够的运动和力传递的灵活性。According to a kangaroo＇s hopping configuration and characteristics, the motion and force transmission performance of a bionic kangaroo-hopping robot is studied. Based on the mechanism model of the bionic kangaroohopping robot, the kinematics equations during stance phase are established to describe the hopping process. The velocity and force directional manipulability measures of the bionic kangaroo-hopping robot is defined by using the velocity transformation relation between the joint space and workspace. Taking the velocity and force directional manipulability measure as the performance index, the motion and force transmission performance of the bionic kangaroo-hopping robot is measured. Finally, we point out that the near-perpendicularity between the kangaroo＇s shank and the ground at take-off is to provide enough force and velocity.

关 键 词：仿袋鼠机器人 方向可操作度 速度传递性能 力传递性能 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]