闭链式弹跳机器人起跳阶段动力学分析  

Dynamics analysis of closed-chain hopping robot in takeoff phase

作　　者：柴辉[1] 葛文杰[1] 杨方[1] 魏敦文[1] 

机构地区：[1]西北工业大学机电学院,陕西西安710072

出　　处：《华中科技大学学报（自然科学版）》2012年第11期17-21,共5页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(50975230);国家高技术研究发展计划资助项目(2007AA04Z207)

摘　　要：设计了一种可用于非结构环境的弹跳机器人,该机器人采用非对称齿轮-六杆闭链机构作为弹跳机构.为分析机器人的跳跃运动,对机器人起跳阶段的动力学进行研究.首先采用矢量闭环方法建立机器人起跳阶段的位置、速度和加速度方程,然后根据动力学普遍方程推导出动力学理论模型.在此基础上,利用Matlab对动力学方程进行数值求解,利用研制的原理样机进行弹跳试验.试验结果表明:理论值和试验结果较为符合,验证了起跳阶段动力学建模及数值分析的有效性.A hopping robot used in unstructured environment was designed, and the closed-chain ro- bot adopts asymmetric six-bar geared linkage as thrusting mechanism. In order to analyze hopping performance, dynamics analysis about the robot in takeoff phase was carried out. Firstly, the posi- tion, velocity and acceleration equations about robot in takeoff phase were established by use of closed vector method, and then, dynamics model was derived using general equation of dynamics. On the base above, dynamics equation was resolved by Matlab software. Jumping experiment was conducted using the developed prototype. The theory values are in closely consistent with the experiment re- sults, which prove the validity of the dynamics model and numerical analysis.

关 键 词：弹跳机器人 闭链机构 动力学 起跳 动力学普遍方程 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]