基于均质柔性杆模型的仿袋鼠机器人柔性脚着地阶段运动特性研究  

On Motion Characteristics of Kangaroo Robot’s Flexible Foot Based on Uniform Flexible Beam Model during Touchdown Phase

作　　者：王振宇[1] 杨方[1] 岳映章[1] 葛文杰[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》2009年第5期460-464,共5页Robot

基　　金：国家863计划资助项目(2007AA04Z207);国家自然科学基金资助项目(50375120)

摘　　要：为了揭示仿袋鼠跳跃机器人柔性脚着地阶段的运动机理以及其对跳跃性能的影响,建立了基于铰支—自由梁的柔性脚着地阶段分析模型.利用拉格朗日方程和假设模态方法,建立了柔性脚掌在着地阶段的动力学方程.结合实例,应用Matlab分别对柔性脚部的运动步态、弹性势能变化、踝关节的位移变化进行了计算与仿真分析,并给出相应的变化规律;建立了跳跃机器人刚性脚与柔性脚的对比实验台,测得落地过程刚性脚、柔性脚的冲击加速度曲线.将刚性脚曲线与柔性脚曲线进行了比较,验证了用均质柔性杆作为机器人的柔性脚来模拟袋鼠柔性脚是可行的,为仿袋鼠跳跃机器人的设计提供了有力的依据.In order to reveal the movement mechanism of kangaroo-hopping robot＇s flexible foot during touchdown phase and its influence on hopping capability, a foot-ground contact analysis model based on hinged-free beam is developed. Lagrange equation and the assumed mode method are used to construct dynamic equations of the flexible sole during touchdown phase. Combined with examples, Matlab is used respectively to calculate and simulate the flexible foot＇s movement gait, change of elasticity potential energy and displacement change of the ankle, and the corresponding change law is given. A contrast experiment platform for flexible and rigid feet of the hopping robot is established, and impact acceleration curves of rigid and flexible feet when landing are measured. Curves of rigid foot are compared with those of flexible foot, and it is verified that it is feasible to use uniform flexible beam as robot＇s flexible foot to simulate kangaroo＇s flexible foot, which supplies a powerful evidence for kangaroo-hopping robot design.

关 键 词：仿袋鼠机器人 柔性脚 假设模态法 实验 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TU311.3[自动化与计算机技术—控制科学与工程]