间歇性单足弹跳机器人落地冲击及稳定性分析

弹跳式机器人落地时与地面的撞击会造成机载设备的损坏 ,而且由于足部受力不均导致机构易翻转 ,难以保持正常的姿态继续弹跳。本文首先建立间歇式弹跳机构的双质量弹簧模型 ,对其进行动力学分析 ,并将弹跳动作划分为四阶段 ,分析了除起跳外其他三个阶段中所受外界作用。经过计算分析 ,最终归纳总结出五条减小落地冲击力及保持稳定的改善措施 ,这些措施为实用弹跳机构的设计提供了有益参考

Analysis on the Landing Impact and Stability of the Intermittent One-Legged Hopping Robots

When the hopping robots land on the rigid ground , the large partial impact may damage and overturn the equipment, thus they will l ose their right postures for the next hop. The paper firstly builds up and analy ses the spring and two-mass system based on the intermittent jumping robots, th en divides the process of one jump into four stages, three of which are relevant to the landing impact and stability except the thrust stance. After all the eff ects are considered and calculated, five measures are brought forward for the ho pping robots to reduce the landing impact and keep steady. These methods can be used in the design of hopping robots.