基于ZMP 的腿式缓冲平台着陆稳定性分析

为研究腿式缓冲平台着陆的稳定性，结合胶泥阻尼器特点，建立腿式缓冲平台动力学模型。以判别动态 稳定性的零力矩点(zero moment point，ZMP)理论为基础，得到腿式缓冲平台ZMP 坐标公式，并提出ZMP-四边形 和ZMP 偏移量稳定性判据。结果表明：该判据能够判定平台的着陆稳定性，并得到影响平台稳定性的各参数响应规 律，为腿式缓冲平台的进一步优化设计提供参考。

Landing Stability Analysis of Legged-type Buffer Platform Based on ZMP

In order to study the landing stability of the leg buffer platform, combined with the characteristics of the clay damper, a dynamic model of the legged-type buffer platform was established. Based on the theory of zero moment point (ZMP) to determine the dynamic stability, the ZMP coordinate formula of the legged-type buffer platform is obtained. And the stability criteria of the ZMP-quadrilateral rule and ZMP offset rule are proposed. The results show that criterion can determine the landing stability of the platform and obtain the parameters response rules that affect the stability of the platform, and provide reference for the further optimization design of the legged-type buffer platform.