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根据袋鼠的生物结构特性,建立了具有柔性脚趾的仿袋鼠跳跃机器人刚柔混合模型,并对柔性脚趾结构进行拓扑优化。分别采用拉格朗日法和有限元方法对刚性构件系统和柔性脚趾系统建立子系统动力学模型。结合实例,利用MATLAB进行了计算和仿真,结果表明:采用拓扑柔性脚趾可以实现机器人预期运动的同时,有效缓解地面冲击与振动,降低机器人各关节的驱动力矩,实现脚趾落地能量积蓄和起跳释放的功能,提高机器人的起跳能力和运动平稳性。
According to the biological characteristics of kangaroo, a rigid-flexible hybrid model of kangaroo hopping robot with flexible toes was established, and the topology of flexible toe structure was optimized. Subsystem dynamics model of rigid member system and flexible toe system are established respectively by Lagrange method and finite element method. The results show that the flexible toes can reduce the impact and vibration of the robot, reduce the driving torque of the robot joints, and achieve the energy savings and take-off release of toes on the ground. Function, improve the robot’s take-off ability and motion stability.