液动仿袋鼠弹跳机器人单腿动力学分析及仿真  

Dynamic analysis and kinetic simulation for one leg of hydraulically actuated bionic kangaroo-hopping robot

作　　者：樊重庆[1] 董海军[1] 葛文杰[1] 陈朋威[1] 

机构地区：[1]西北工业大学机电学院,西安710072

出　　处：《机械设计与制造》2012年第5期177-179,共3页Machinery Design & Manufacture

基　　金：863计划(2007AA04Z207);国家自然科学基金(50375120)

摘　　要：提出了液压能驱动的仿袋鼠跳跃机器人驱动方案,并采用拉格朗日方法建立了袋鼠四自由度单腿跳跃的动力学方程。在此基础上,依据袋鼠跳跃的运动数据,按照所建立的动力学方程求得了一个运动周期内三个关节液压缸的驱动力的变化规律。建立了仿袋鼠机器人的模型并依据求得的仿袋鼠跳跃机构驱动力的变化规律,进行了运动学及动力学仿真。与袋鼠跳跃运动录像资料所得数据进行了对比分析,证实了所提出的驱动方案的可行性以及所建模型的正确性。A scheme for hydraulically actuated hopping robot of bionic Kangaroo is proposed,in which the Lagrange dynamics equations of one leg with four-DOF are established.On the basis of the data of Kangaroo hopping and in accordance with dynamics equations the variable regular pattern of the driving forces for three hydraulic cylinders in a kinetic cycle are figured out.The model of the robot of bionic Kangaroo is established and simulated for the kinematics and the dynamics,which results are compared with the data measured from the video of Kangaroo,and the feasibility of actuated project and the validity of the model are confirmed.

关 键 词：弹跳机器人 液压驱动 动力学分析 运动仿真 

分 类 号：TH16[机械工程—机械制造及自动化]