基于可调齿轮—五杆机构的仿袋鼠跳跃机器人运动步态分析

柴辉, 李建华, 葛文杰

柴辉, 李建华, 葛文杰. 基于可调齿轮—五杆机构的仿袋鼠跳跃机器人运动步态分析[J]. 机器人, 2009, 31(6): 487-492.
引用本文: 柴辉, 李建华, 葛文杰. 基于可调齿轮—五杆机构的仿袋鼠跳跃机器人运动步态分析[J]. 机器人, 2009, 31(6): 487-492.
CHAI Hui, LI Jianhua, GE Wenjie. Gait Analysis on Bionic Kangaroo-hopping Robot Based on Adjustable Geared Five-linkage Mechanism[J]. ROBOT, 2009, 31(6): 487-492.
Citation: CHAI Hui, LI Jianhua, GE Wenjie. Gait Analysis on Bionic Kangaroo-hopping Robot Based on Adjustable Geared Five-linkage Mechanism[J]. ROBOT, 2009, 31(6): 487-492.

基于可调齿轮—五杆机构的仿袋鼠跳跃机器人运动步态分析

详细信息
    作者简介:

    柴辉(1984- ),男,博士生.研究领域:仿生机器人,计算机辅助设计.
    李建华(1955– ),男,副教授,硕士生导师.研究领域:机电产品智能数字化设计.
    葛文杰(1956– ),男,教授,博士生导师.研究领域:仿生机构学,机械动力学及计算机辅助设计.

  • 中图分类号: TP242

Gait Analysis on Bionic Kangaroo-hopping Robot Based on Adjustable Geared Five-linkage Mechanism

  • 摘要: 设计了一种可调齿轮—五杆仿袋鼠跳跃机器人,实现了能量的可调.利用ADAMS软件对机器人的结构参数进行了优选,按姿态调整、储能、起跳腾空、着地复位的动作顺序对机器人一个跳跃循环过程中的运动步态进行了分析.采用简化的双质量—非线性弹簧模型对起跳条件和质心受力情况进行了分析.最后给出了仿真和实验结果,证实了设计方案的可行性.
    Abstract: A bionic kangaroo-hopping robot based on adjustable geared five-linkage mechanism is designed in order to realize energy adjustable.Optimal selection of structure parameter of robot is accomplished by ADAMS software.The robot gait in a hopping cycle is also analyzed by the action sequence which includes attitude adjustment,energy storage,takeoff and flight,landing and reset.Simplified double mass-nonlinear spring model is established in order to analyze the takeoff condition and the forces on centroid.At last,the simulation and experiment results are given to prove the feasibility of the design.
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出版历程
  • 收稿日期:  2008-11-27

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