仿水黾机器人划水腿刚柔耦合动力学建模与仿真研究  

Rigid-flexible Coupling Dynamic Modeling and Simulation Research on Rowing Leg of Water Strider Robot

作　　者：王兰[1] 高铁红[1] 贠今天[2] 李坤[2] 

机构地区：[1]河北工业大学机械工程学院,天津300130 [2]天津工业大学机械电子学院,天津300160

出　　处：《河北工业大学学报》2009年第6期15-19,共5页Journal of Hebei University of Technology

摘　　要：仿水黾机器人一般采用轻型材料制作并且是在较高速度下运行,构件的弹性变形将直接影响机器人系统的运动特性.本文采用假设模态法来描述划水腿的变形,在Lagrange方程的基础上建立仿水黾机器人驱动机构划水腿的刚柔耦合动力学模型,数值仿真曲线描绘出划水腿的柔性变形对末端轨迹的影响.该研究为该机器人今后进行主动控制,获得更快的运动速度,准确运行轨迹路线奠定基础.Water strider robot is made of light material and moves at a higher speed. Component＇s flexibility will affect the motion characters of robot system. The rigid-flexible coupling dynamic model of rowing leg on driving mechanism of water strider robot was built based on Assumed-mode method and Lagrange Equation. Numerical simulation curves de- scribed the influence that the flexibility of rowing leg does on end trajectory. This research is a base for robot active control to get higher speed and more accurate track.

关 键 词：水黾 机器人 刚柔耦合 动力学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]