仿人跑步机器人变拓扑结构动力学分析

DYNAMIC ANALYSIS WITH CHANGING TOPOLOGY OF A HUMANOID RUNNING ROBOT

  • 摘要: 提出了仿人跑步机器人变拓扑结构动力学的分析方法. 首先建立坐标系统,接着推导机器人的约束方程和雅可比矩阵,并以此为基础得到机器人在起跳阶段和飞行阶段的动力学方程,同时确定不同阶段相互转换的识别方程,作为机器人从一个阶段转向另一个阶段的条件. 另外对机器人从空中落地时着地脚和地面的冲击现象进行了分析. 最后采用ADAMS软件建立了机器人的虚拟样机模型,通过模型仿真验证了该方法的有效性和可行性.

     

    Abstract: An analysis of dynamics with changing topology for thehumanoid running robot is carried out. First, a coordinate system ischosen. Then the constraint equation and the Jaccobi matrix are derived and thedynamics equations of the robot in stance phase and in flight phase areobtained. Next, the identification equation in different phases isderived as the condition of the robot from one phase to another phase. Inaddition, the impact between a foot of the robot and the ground is analyzedwhen the robot contacts the ground from the air. Finally, a virtual modelof the robot is built by the software ADAMS and the validity of the methodis verified by the simulation for the virtual model of the robot.

     

/

返回文章
返回