仿青蛙跳跃机器人运动学研究  

Research on Kinematics of Frog-jumping Robot

作　　者：王猛[1] 臧希喆[1] 樊继壮[1] 赵杰[1] 

机构地区：[1]哈尔滨工业大学机器人技术及系统国家重点实验室,哈尔滨150001

出　　处：《系统仿真学报》2010年第1期102-106,共5页Journal of System Simulation

基　　金：“863”国家高技术研究发展计划项目(2006AA04Z245);哈尔滨工业大学优秀青年教师培养计划资助项目(HITQNJS.2008.014)

摘　　要：提出了仿青蛙跳跃机器人机构模型及运动学研究的方法。基于对青蛙运动的研究,提出了仿青蛙机器人单侧跳跃机构的分析模型,采用D-H法,建立了机器人起跳与腾空两个阶段,其前肢和后肢的运动学方程,进行了正、逆运动学研究。分析机器人四肢的运动空间,并通过实例计算,验证了研究结果和生物学实测结果相一致,从而证明了这一仿生跳跃机构模型的可行性和仿生机构运动研究方法的有效性。得出的结论将为仿青蛙跳跃机器人的设计及控制提供理论基础。A mechanism model and a kinematics research method for bionic frog jumping robot were proposed. Based on the study of frog movement, a one-side jumping mechanism model for bionic frog robot was proposed. The kinematics equations of robot＇s hindlimb and forelimb during take-off and aerial phases were established, and its direct and inverse kinematics were studied through D-H method. The movement space of the robot＇s limb was analyzed. The robot＇s kinematics was calculated and the results coincide with the biologic experiment of frog, which demonstrates the feasibility of this bionic jumping model and validity of the research method. The conclusion will provide the theory for the development and control of the bionic frog jumping robot.

关 键 词：仿青蛙机器人 跳跃机构 正运动学 逆运动学 运动空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]