| 气动仿青蛙跳跃机器人动力学分析 |
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| 引用本文： | 冯文博,樊继壮,赵 杰.气动仿青蛙跳跃机器人动力学分析[J].机械与电子,2015,0(11):72-76. |
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| 作者姓名： | 冯文博 樊继壮 赵 杰 |
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| 作者单位： | (哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江 哈尔滨 150001) |
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| 摘 要： | 以青蛙为原型设计了一种仿青蛙跳跃机器人。该机器人以气动人工肌肉为驱动器,使得机器人具有更好地仿生性能。将机器人的运动分为3个阶段,进行了运动学分析,并运用拉格朗日法进行动力学分析,获得动力学方程。利用ADAMS-Matlab仿真验证了动力学方程的正确性,为进一步的研究工作奠定了基础。
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| 关 键 词： | 气动人工肌肉 机器人 运动学分析 动力学分析 |
Kinetic Analysis of Bionic Frog Pneumatic Hopping Robot |
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| FENG Wenbo,FAN Jizhuang,ZHAO Jie.Kinetic Analysis of Bionic Frog Pneumatic Hopping Robot[J].Machinery & Electronics,2015,0(11):72-76. |
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| Authors: | FENG Wenbo FAN Jizhuang ZHAO Jie |
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| Affiliation: | (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001,China) |
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| Abstract: | A bionic frog pneumatic hopping robot has been designed based on the motional characteristics of the frog. Artificial pneumatic muscles has been chosen to drive of the robot, because pneumatic muscles gives the robot better bionic performance. In this paper, the motion of the robot is divided into three phases. After the kinematics analysis finished, by using the Lagrangian method, dynamics analysis can be done and the kinetic equation can be obtained. ADAMS-Matlab simulation is used to verify the correctness of kinetic equations, and to establish the foundation for further research. |
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| Keywords: | pneumatic artificial muscle robot kinetic analysis dynamic analysis |
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