可变起跳角度的球形跳跃机器人跳跃分析及其优化  

Optimal Design and Dynamic Analysis of Spherical Hopping Robot with Variable Take-off Angle

作　　者：董洋洋 韩少杰 左堃罡 张子建 DONG Yangyang;HAN Shaojie;ZUO Kungang;ZHANG Zijian(College of Aerospace Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学航天学院,江苏南京210016

出　　处：《机械与电子》2021年第2期74-80,共7页Machinery & Electronics

摘　　要：针对跳跃机器人越障时自主控制与调整的局限性,设计了一款可变起跳角的球形跳跃机器人,该机器人采用C 60结构镂空外壳和平台调姿机构可实现变角度跳跃目标。通过分析机器人起跳、滞空、落地的运动过程,采用拉格朗日方程对机器人跳跃过程动力学进行建模。建立了起跳角对速度的影响方程,并针对单足跳跃过程,揭示起跳过程中打滑现象的产生与摩擦角之间的关系。基于机器人动力学方程,研究跳跃机器人面对越障时,与障碍物距离和起跳角度对跨越和爬升的影响。最后,利用ANSYS对其动力学进行仿真分析,有效保障了机器人跳跃任务的顺利完成,为球形跳跃机器人规划问题奠定了理论基础。In view of the limitations of autonomous control and adjustment of jumping robot when crossing obstacles,the project team designed a spherical jumping robot with variable take-off angle.The robot adopts C 60 structure hollow shell and platform attitude adjustment mechanism to achieve variable angle jumping target.By analyzing the motion process of the robot’s take-off,stagnation and landing,Lagrange equation is used to model the robot’s jumping process dynamics.The equation of the influence of the take-off angle on the velocity is established,and the relationship between the sliding phenomenon and the friction angle is revealed.Based on the dynamic equation of the robot,the influence of the distance between the jumping robot and the obstacle and the takeoff angle on the crossing and climbing is studied.Finally,the dynamics of the robot is simulated and analyzed by ANSYS,which effectively guarantees the successful completion of the jumping task of the robot,and lays a theoretical foundation for the planning of the spherical jumping robot.

关 键 词：可变起跳角跳跃机器人 跳跃机器人 拉格朗日动力学 动力学 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] TP242[自动化与计算机技术—检测技术与自动化装置]