基于可调齿轮—五杆机构的仿袋鼠跳跃机器人运动步态分析  

Gait Analysis on Bionic Kangaroo-hopping Robot Based on Adjustable Geared Five-linkage Mechanism

作　　者：柴辉[1] 李建华[1] 葛文杰[1] 

机构地区：[1]西北工业大学,陕西西安710072

出　　处：《机器人》2009年第6期487-492,共6页Robot

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

摘　　要：设计了一种可调齿轮—五杆仿袋鼠跳跃机器人,实现了能量的可调.利用ADAMS软件对机器人的结构参数进行了优选,按姿态调整、储能、起跳腾空、着地复位的动作顺序对机器人一个跳跃循环过程中的运动步态进行了分析.采用简化的双质量—非线性弹簧模型对起跳条件和质心受力情况进行了分析.最后给出了仿真和实验结果,证实了设计方案的可行性.A bionic kangaroo-hopping robot based on adjustable geared five-linkage mechanism is designed in order to realize energy adjustable. Optimal selection of structure parameter of robot is accomplished by ADAMS software. The robot gait in a hopping cycle is also analyzed by the action sequence which includes attitude adjustment, energy storage, takeoff and flight, landing and reset. Simplified double mass-nonlinear spring model is established in order to analyze the takeoff condition and the forces on centroid. At last, the simulation and experiment results are given to prove the feasibility of the design.

关 键 词：能量可调 参数优选 步态分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]