仿蛙机器人起跳阶段动力学及仿真分析
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摘要
针对弹跳机器人高驱动功率的要求,设计了一种含有弹簧储能机构的间歇式跳跃仿蛙机器人。为了分析机器人在弹簧储能机构驱动下的起跳运动规律,对机器人起跳阶段的动力学进行了研究。首先建立了简化的机器人机构模型,并采用D-H方法建立了机器人起跳阶段的位置、速度和加速度方程;然后根据多刚体动力学拉格朗日方法推导了机器人起跳阶段的动力学方程,并利用MATLAB对拉格朗日方程进行数值求解,得到了机器人起跳阶段的关节角度变化规律、质心运动轨迹和起跳完成时刻质心速度。最后利用ADAMS进行了起跳阶段的动力学仿真,验证了动力学方程数值求解结果的有效性。
A bionic frog robot of intermittent jumping with spring stored energy mechanism is designed for the demand of high driving power. In order to analyze the jumping motion of the robot driving by spring stored energy mechanism,the dynamics in takeoff phase has been researched. Firstly,the simplified model of the robot mechanism is established,and the equations of location,velocity and acceleration in takeoff phase are set up by D-H method. Then,the dynamic equation of the takeoff phase of the robot is derived by Lagrange method of multi-rigidbody dynamics and solved by MATLAB with numerical method,after that the trajectories of the robot joint angles and the mass-center location,and the velocity of mass-center at the end of the takeoff phase are got. Finally,the dynamics simulation of the takeoff phase is carried out by using ADAMS,and the validity of the numerical solution of the dynamic equation is verified.
A bionic frog robot of intermittent jumping with spring stored energy mechanism is designed for the demand of high driving power. In order to analyze the jumping motion of the robot driving by spring stored energy mechanism,the dynamics in takeoff phase has been researched. Firstly,the simplified model of the robot mechanism is established,and the equations of location,velocity and acceleration in takeoff phase are set up by D-H method. Then,the dynamic equation of the takeoff phase of the robot is derived by Lagrange method of multi-rigidbody dynamics and solved by MATLAB with numerical method,after that the trajectories of the robot joint angles and the mass-center location,and the velocity of mass-center at the end of the takeoff phase are got. Finally,the dynamics simulation of the takeoff phase is carried out by using ADAMS,and the validity of the numerical solution of the dynamic equation is verified.
引文
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[2]KOH J S,JUNG S P,NOH M,et al.Flea inspired catapult mechanism with active energy storage and release for small scale jumping robot[C]//Proceedings of IEEE International Conference on Robotics and Automation(ICRA).Karlsruhe,Germany,2013:26-31.
[3]GRIMES J A,HURST J W.The design of ATRIAS 1.0:a unique monopod,hopping robot[C]//Proceedings of the15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines.Baltimore,USA,2012:548-554.
[4]HYON S H,EMURA T,MITA T.Dynamics-based control of a one-legged hopping robot[J].Proceedings of the institution of mechanical engineers,part I:journal of systems and control engineering,2004,217(2):83-98.
[5]NIIYAMA R,NAGAKUBO A,KUNIYOSHI Y.Mowgli:a bipedal jumping and landing robot with an artificial musculoskeletal system[C]//Proceedings of IEEE International Conference on Robotics and Automation.Roma,Italy,2007:10-14.
[6]柴辉,葛文杰,杨方,等.闭链式弹跳机器人起跳阶段动力学分析[J].华中科技大学学报:自然科学版,2012,40(11):17-21.
[7]王猛.仿青蛙跳跃机器人的研制[D].哈尔滨:哈尔滨工业大学,2009:37-49.
[8]陈恳,付成龙.仿人机器人理论与技术[M].北京:清华大学出版社,2010:23-41.
[9]熊有伦,唐立新,丁汉,等.机器人技术基础[M].武昌:华中科技大学出版社,1996.
[10]张纪元.机构分析与综合的解[M].北京:人民交通出版社,2007:59-60.
[11]BOGDANOV A.Optimal control of a double inverted pendulum on a cart.Technical Report CSE-04-006[R].Department of Computer Science and Electrical Engineering,OGI School of Science and Engineering,OHSU,2004.
[12]薛定宇,陈阳泉.高等应用数学问题的MATLAB求解[M].2版.北京:清华大学出版社,2008:230-242.