欠驱动仿袋鼠跳跃机器人动力学耦合研究

根据袋鼠的生物结构及运动特点,建立了具有欠驱动关节的仿袋鼠跳跃机器人模型。以此模型为基础,分析系统的主动关节与被动关节之间的加速度耦合效应。采用拉格朗日方方法建立了机构的动力学方程。结合实例,运用Matlab软件对机器人进行仿真分析,给出了机器人全局单关节耦合变化规律。结果表明:仿袋鼠跳跃机器人的踝关节与欠驱动关节间存在足够大的耦合并且通过动力学耦合来控制欠驱动关节的位置是可能的。动力学耦合指标对欠驱动机器人的结构设计和驱动装置位置有重要作用。

Research on dynamics coupling for underactuated bionic kangaroo-hopping robot

According to the biological structure and kinematic characteristics of kangaroo,we establish a model for uniped hopping mechanism of bionic kangaroo with underactuated joint.Based on this model,the dynamic coupling effects of the acceleration coupling between active joints and passive ones are analyzed,and dynamics equations are established with adopting lagrange method.With practical example and using Matlab simulation analysis for the robot is made so that the changing rule of the global individual joint coupling are obtained.The result indicates that a large coupling between the ankle joint and underactuated joint of the hopping kangaroo robot is available,thus it is possible to control the position of the underactuated joint via the dynamics coupling,which index plays an important role in structure design and actuator placement of underactuated robots system.