四腿液压弹跳机器人的单腿起跳优化设计  

Optimization of Single Leg in Quadruped Hydraulic Jumping Robot

作　　者：唐志勇[1] 陈辰[1] 陈斌[1] 裴忠才[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院机械电子工程系,北京100191

出　　处：《液压与气动》2014年第3期125-129,共5页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金项目(51075017)

摘　　要：针对提高关节型液压驱动弹跳机器人的环境适应性,提出了除高度、稳定性外,弹跳机器人的另一重要控制参数——地面支持力。通过增加腿部力量推动机身做功位移,同时保持推动力恒定,消除足端对地面的作用力的波动,以减小弹跳所需支持力的峰值,降低对地面硬度的要求。另一方面通过合理的运动规划,使得机器人在保持弹跳高度、负载不变的前提下,对液压系统流量及压力的要求降低。To improve the environmental adaptability of the hydraulic jumping robot, a little ground support force, as important as the height and stability of the jumping motion, must be taken into consideration. It means a lower requirement of the ground hardness. To achieve this objective, a reasonable motion planning is needed, which in- cludes extending the distance in the rising stage when the foot is touching the ground and making a pushing force e- venly distributed along that distance. Meanwhile, the kinematics and dynamics analysis of the robot result in the optimization of the motion planning which reduces the requirement of the hydraulic system, without reducing the load or the jumping height.

关 键 词：弹跳机器人 液压驱动 竖直弹跳 地面支持力 运动规划 

分 类 号：TH137[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]