小型足式机器人弹性足建模分析
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摘要
为了提高竖直方向运动的稳定性,设计弹性足应用于实验室小型四足机器人。构建质量阻尼弹簧系统得到弹性足数学模型,并分析四阶系统稳定性条件。简化弹性足物理模型,设置系统性能指标得到弹簧系数和阻尼系数。使用单位脉冲信号和单位脉冲信号模拟冲击输入和恒力输入,在MATLAB环境中进行仿真。仿真结果表明,本文设计的弹性足在增加系统稳定性的同时减小了机器人的刚性冲击。
In order to improve the stability of the vertical motion, the elastic foot is designed to be used in the laboratory small quadruped robot. The elastic foot mathematical model is obtained by constructing the m-c-k system, and the stability conditions of the fourth-order system is analyzed. The elastic foot physical model is simplified. The spring constant and damping coefficient are obtained by using the performance index of the system. Using unit-pulse signal and unit-step signal to simulate impact input and constant force input, the simulation is carried out in the MATLAB. The simulation result shows that the elastic foot which designed in this paper reduces the rigid impact of the robot while increasing the stability of the system.
In order to improve the stability of the vertical motion, the elastic foot is designed to be used in the laboratory small quadruped robot. The elastic foot mathematical model is obtained by constructing the m-c-k system, and the stability conditions of the fourth-order system is analyzed. The elastic foot physical model is simplified. The spring constant and damping coefficient are obtained by using the performance index of the system. Using unit-pulse signal and unit-step signal to simulate impact input and constant force input, the simulation is carried out in the MATLAB. The simulation result shows that the elastic foot which designed in this paper reduces the rigid impact of the robot while increasing the stability of the system.
引文
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[3]BigDog Overview[EB/OL].[2013-05-bostond yna mics.com/img/BigDog_Overview.pdf.
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[6]何玉东,王军政,柯贤锋,汪首坤.足式机器人的稳定行走[J].机械工程学报,2016,52(21):1-7.
[7]SEMINI C.HyQ-design and design and develo pment of a hydraulically actuated quadruped robot[D].Italy:University of Genoa,2010.
[8]李满天,于海涛,郭伟,王鹏飞,蔡鹤皋.基于摄动理论的SLIP模型解析化研究及其运动控制[J].机器人,2012,34(6):689-696.