基于自适应结构的仿袋鼠机器人脚部研究及设计  

Research and design on the foot of the hopping kangaroo robot based on adaptive structure

作　　者：李岩[1] 葛文杰[1] 樊重庆[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187-189,共3页Machinery Design & Manufacture

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

摘　　要：根据袋鼠的生物结构特征,建立了仿袋鼠跳跃机器人的刚柔混合模型。利用自适应结构的可控性,将其应用于仿生跳跃机器人领域,来实现跳跃机器人在不同跳跃速度下的脚部轮廓变形以及在跳跃过程中脚部的变形。在SolidWorks中建立自适应结构脚的三维模型,运用拉格朗日方法建立机器人动力学方程,在此基础上,用ZMP法建立其落地稳定性的求解方程。结合实例仿真结果表明:具有自适应结构的变形脚有助于提高机器人在着地过程中的落地稳定性,增大起跳时间和调整起跳角度。A rigid-flexible model is established to analyze the hopping kangaroo robot based on kangaroo＇s biological architecture.Using the controllability of the adaptive structure,it is applied to the bionic hopping robot field,so that the deformation of the hopping robot foot is achieved at different velocities and at the different time of the jumping.Then a three-dimensional model of foot with adaptive structure are established in SolidWorks,after that the dynamics equations are established with the Lagrange method,based on which the solving equation for the stability is established by using ZMP method.The simulation results show that the deformed foot with adaptive structure may help to improve the stability of landing,increase the take-off time and adjust the take-off angle.

关 键 词：跳跃机器人 自适应结构 稳定性 

分 类 号：TH16[机械工程—机械制造及自动化]