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根据袋鼠的生物结构特性,建立了液压驱动的欠驱动仿袋鼠跳跃机器人三刚体模型。利用拉格朗日方法建立了机器人在着地阶段的动力学方程及主、被动关节动力学耦合方程,利用Maple15进行符号计算得出耦合因子。结合实例,应用Matlab7.0分别对碰撞力、地面的反作用力、系统动能、及总质心在y方向上的位移变化进行了计算和仿真;并与全驱动的仿袋鼠跳跃机器人刚性模型进行了对比分析。还通过跳跃机器人两种模型的跳跃模拟对比实验,用加速度传感器测得落地冲击时质心加速度曲线。结果表明:弹性元件的引入有效地起到了缓冲的作用,减轻了着地时机器人与地面的振动和冲击,提高了跳跃机器人的落地稳定性,节省了系统损耗的能量。
According to the biological structure of kangaroo, a three-body rigid body model of a hydraulically driven under-driven kangaroo hopping robot is established. The Lagrange method was used to establish the dynamic equation of the robot during the landing and the coupling equations between the primary and the passive joints. The coupling factor was calculated by using the symbol of Maple15. With the example, the displacement of the collision force, the reaction force of the ground, the system kinetic energy and the total center of mass in the y direction are calculated and simulated respectively by using Matlab7.0. Compared with the full-driven rigid model of kangaroo hopping robot analysis. Simulated experiments were also conducted by jumping robot jumping models, and the accelerometer was used to measure the acceleration curve of the center of mass when landing. The results show that the introduction of elastic element effectively plays the role of cushioning, reduces the vibration and impact between the robot and the ground when it is touched, improves the landing stability of jumping robot and saves the energy of system loss.