单足机器人垂直跳跃动态特性研究

On Dynamic Characteristics of the Vertical Hopping of the One-legged Robot

  • 摘要: 单足机器人一个跳跃周期经历触地相和腾空相两种约束状态,针对机器人触地相落地碰撞、缓冲、起跳,腾空相起跳冲击和伺服定位各过程,综合应用动力学、热力学、流体力学、碰撞和控制理论等建立了机器人一个跳跃周期的综合数学模型.在 Matlab 上建立了机器人一个跳跃周期的联合仿真模型,对影响单足机器人落地碰撞、起跳冲击和跳跃高度的主要因素进行了仿真研究,得出了实现机器人增高跳跃、减高跳跃和等高跳跃时各影响因素的取值范围和较佳值,包括机器人落地时刻气缸下腔气压预设值和活塞相对坐标预设值,起跳过程气缸充排气转换相对坐标等因素影响跳跃高度、落地碰撞和起跳冲击的规律性认识.搭建了单足机器人垂直跳跃实验台,针对各主要影响因素对机器人跳跃过程的影响规律进行了实验研究,实验结果与仿真数据吻合良好.

     

    Abstract: A hopping cycle of the pneumatically actuated one-legged robot includes stance phase and flight phase. By virtue of dynamics, thermodynamics, hydrodynamic, collision theory and control theory, a comprehensive mathematical model of a hopping cycle of the pneumatically actuated one-legged robot is proposed, which includes the landing collision between the foot and the ground, the buffering stage and acceleration stage in stance phase, the shock of take-off by the leg at the moment of take-off, and the process of piston positioning in flight phase. A combined simulation model of a hopping cycle of the robot is built in Matlab. Simulation study is made on the effect law of main influential factors on the landing collision, the shock of take-off and the hopping height of the one-legged robot. And the regularity understanding on the effect law is achieved. The main influential factors include: preset values of the chambers pressure of the lower chamber and the piston position at the landing moment, relative coordinate of conversion between charge and exhaust. Value ranges and the better values of the above factors which can realize higher jump, lower jump and equal height jump of the robot are obtained. A test rig of vertical hopping of the one-legged robot is built, and effect laws of the main influential factors on the hopping process of the robot are investigated. The simulation results are in good agreement with the experiments results.

     

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