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被动动力行走是当今双足步行机器人研究的重点之一,学者对被动行走器髋关节的摩擦对其步态影响还存在分歧。该文对髋关节含库伦摩擦的直腿被动动力行走器的建模和仿真,以及摩擦对行走器步态的影响进行了研究。首先推导了髋关节含库伦摩擦的被动行走器的动力学方程,该动力学方程为非线性非光滑的隐式常微分方程组;然后给出了一种基于试算法求解该动力学方程的数值计算方法;最后通过数值仿真分析了髋关节的摩擦对被动行走器步态的影响。研究成果为以后被动动力行走研究提供了一个更接近实际的模型,为数值仿真分析其动力学特性提供了一种工具。
Passive power walking is one of the focuses of walking biped robot today. Scholars still disagree on the impact of the friction of the passive hip joint on the gait. This paper studies the modeling and simulation of the straight leg passive power hitch with Coulomb friction and the effect of friction on the walking gait. First of all, the kinetic equation of passive walking device with Coulomb friction in the hip joint is deduced. The kinetic equation is nonlinear nonsmooth implicit ordinary differential equations. Then a numerical solution based on the trial method to solve the dynamic equation Finally, the effect of hip joint friction on gait of passive walker is analyzed by numerical simulation. The research results provide a more realistic model for the research of passive motional walking in the future and provide a tool for numerical simulation of its dynamic characteristics.