腿形机器人起跳过程运动分析  

Kinematic analysis of a legged robot's take-off process

作　　者：谭向全[1] 王潇洵[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033

出　　处：《应用科技》2013年第4期1-5,共5页Applied Science and Technology

摘　　要：为了对腿形机器人起跳过程中的运动学特性进行分析,建立了简化的运动学模型.采用多项式规划方法对角度的轨迹进行了研究,在规划过程中引入相似系数和滞后系数,并建立了起跳判断条件.使用算例对起跳过程进行了仿真分析,分析了相似系数和滞后系数对起跳过程的影响.最终得到近似于青蛙起跳过程的仿真结果,仿真结果表明了所采用方法的有效性.A simplified kinematic model is established in order to analyze the characteristics of a legged robot＇s take-off process. The trajectory of angles is researched by the polynomial planning method. The similarity coefficient and lag coefficient are used and the judgement condition for take-off is established in the research. Simulation analysis of the take -off process is done with examples. The effects of the similarity coefficient and lag coefficient on the take-off process are analyzed. The simulation results are approximate to the take-off process of a frog, showing that the theory is effective.

关 键 词：腿形机器人 多项式规划 相似系数 滞后系数 仿真分析 

分 类 号：TH12[机械工程—机械设计及理论]