张文涛, 葛文杰, 李建华, 江曼, 沈平. “袋鼠”跳跃机器人动力系统方案设计与研究[J]. 机器人, 2008, 30(4): 359-363.
引用本文: 张文涛, 葛文杰, 李建华, 江曼, 沈平. “袋鼠”跳跃机器人动力系统方案设计与研究[J]. 机器人, 2008, 30(4): 359-363.
ZHANG Wen-tao, GE Wen-jie, LI Jian-hua, JIANG Man, SHEN Ping. Design and Research on the Power System of "Kangaroo" Hopping Robot[J]. ROBOT, 2008, 30(4): 359-363.
Citation: ZHANG Wen-tao, GE Wen-jie, LI Jian-hua, JIANG Man, SHEN Ping. Design and Research on the Power System of "Kangaroo" Hopping Robot[J]. ROBOT, 2008, 30(4): 359-363.

“袋鼠”跳跃机器人动力系统方案设计与研究

Design and Research on the Power System of "Kangaroo" Hopping Robot

  • 摘要: 提出了"袋鼠"机器人电液驱动动力系统设计方案,包括跳跃机构、动力系统和控制系统的设计.从理论上分析了方案的可行性;运用二阶拉格朗日方程给出了"袋鼠"机器人模型起跳阶段的动力学方程,并通过仿真分析得到了起跳阶段加载动力与速度的关系,为"袋鼠"机器人动力配置提供了依据.最后给出了实验结果,以证实该设计方案的有效性.

     

    Abstract: A design scheme is presented for the electro-hydraulic actuator power system of "Kangaroo" robot,including design of the hopping device,power system and controlling system.The feasibility of the design scheme is analyzed theoretically,the dynamic equations in the taking-off phase are established with the second order Lagrange formula,and the relationship between speed and power loading in the taking-off phase is obtained by simulation analysis,offering the theoretical basis for the power configuration of "Kangaroo" robot.Finally,experimental result is given to prove the validity of the presented design scheme.

     

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