| 仿袋鼠单腿跳跃机器人动力学建模与仿真 |
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| 引用本文： | 熊小琴,何广平. 仿袋鼠单腿跳跃机器人动力学建模与仿真[J]. 北方工业大学学报, 2009, 21(1): 36-41 |
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| 作者姓名： | 熊小琴 何广平 |
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| 作者单位： | 北方工业大学机电工程学院,100144,北京;北方工业大学机电工程学院,100144,北京 |
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| 基金项目： | 国家自然科学基金，北京市重点学科建设和北京市研究生教育与科研平台建设联合资助项目 |
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| 摘 要： | 根据自然界中袋鼠的骨骼结构设计了仿袋鼠单腿跳跃机器人的机构模型．其机构设计充分利用产生被动动力学的机械结构来减少运动中的能耗．仿袋鼠单腿跳跃机器人由关节腿、身体和尾巴三部分组成，其中关节腿由两连杆、旋转副及扭簧连接而成．采用拉格朗日方法建立支撑相和飞行相的动力学模型，并用MATLAB7．0对动力学模型进行了数值仿真，仿真结果验证了动力学模型的正确性，为后续的机器人结构优化设计和运动控制奠定了理论基础．
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| 关 键 词： | 仿袋鼠机器人 运动学 动力学 数值仿真 |
Dynamics Modelling and Numerical Simulation of One-leg Hopping Kangaroo Robot |
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| Xiong Xiaoqin,He Guangping. Dynamics Modelling and Numerical Simulation of One-leg Hopping Kangaroo Robot[J]. Journal of North China University of Technology, 2009, 21(1): 36-41 |
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| Authors: | Xiong Xiaoqin He Guangping |
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| Affiliation: | Xiong Xiaoqin He Guangping (College of Mechanical , Electronical Engineering,North China Univ.of Tech.,100144,Beijing,China) |
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| Abstract: | Based on the skeleton of kangarooes in nature,the model of one-leg hopping kangaroo robot is designed.The design makes full use of the mechanical structure which produces passive dynamics to reduce the energy dissipation during motion.The robot is composed of three parts: articulated leg,body,and tail.The articulated leg has two links connected by a rotational joint and the torsional spring.Using the Euler-Lagrange method,the dynamics models of the robot in the standing phase and flying phase are establishe... |
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| Keywords: | robot simulating kangaroo kinematics dynamics numerical simulation |
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