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根据袋鼠的生理结构及运动特征,提出了仿袋鼠跳跃机器人的单腿模型,建立了相应机构在着地阶段的运动学和动力学方程.结合实例,用MATLAB计算了机器人在着地阶段关节力矩和地面作用力随时间变化的规律,并对其进行了分析和讨论.结果表明:踝关节的输入力矩是膝关节的2.5倍,是髋关节的6倍,因此踝关节的驱动力矩是整个机器人完成跳跃的决定因素之一.此动力学研究结果为仿袋鼠跳跃机器人的设计分析及跳跃运动的精确控制提供了理论基础. 相似文献
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基于仿袋鼠跳跃机器人五刚体机构模型,运用拉格朗日法,建立了跳跃机器人系统着地阶段的动力学方程,采用ZMP法研究了仿袋鼠弹跳机器人的运动稳定性,提出了其着地运动稳定裕度的计算方法和判据;采用Matlab仿真工具,结合实例分析,对机器人着地阶段各关节驱动力矩以及ZMP点的变化情况进行了仿真,并提出了改进刚性模型着地运动稳定性的方法。仿真结果表明:ZMP法在此模型上分析是有效的。 相似文献
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仿袋鼠机器人跳跃运动步态的运动学 总被引:1,自引:1,他引:1
提出了仿袋鼠跳跃机器人机构模型及运动学研究的方法。基于对袋鼠的运动结构及录像资料的研究,提出了仿袋鼠机器人单腿四杆跳跃机构的分析模型,采用D-H法,建立了机器人着地与腾空两个阶段的运动学方程, 进行了正运动学研究,给出了机器人在跳跃过程中的运动位姿及躯干质心的运动轨迹表达式,并利用雅可比矩阵建立了机器人躯干质心与关节之间的微分运动关系及速度分析方法。采用Matlab编程,结合实例对机器人进行了运动仿真运算,对结果进行了分析讨论,解释了袋鼠跳跃运动跃远度大而耗能低和运动稳健的运动机理。研究结果与录像观察和生物学实测研究结果相吻合,从而证明了这一仿生跳跃机构模型的可行性和仿生机构运动研究方法的有效性。 相似文献
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在仿袋鼠机器人机构模型的基础上,建立了跳跃过程着地阶段的运动学方程;通过关节空间与操作空间速度的变换关系,定义仿袋鼠机器人跳跃运动速度和力方向可操作度;以速度和力方向可操作度为性能指标,度量仿袋鼠跳跃机器人在操作空间中的运动和力传递性能,解释了袋鼠起跳瞬间小腿与地面垂直是为了保证有足够的运动和力传递的灵活性。 相似文献
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In a recent paper, the Ritz method with simple algebraic polynomials as trial functions was used to obtain an eigenvalue equation for the free vibration of a class of homogeneous solids with cavities. The method presented is here extended to the study of a class of non-homogeneous solids, in which each solid is composed of a number of isotropic layers with different material properties. The Cartesian coordinate system is used to describe the geometry of the solid which is modelled by means of a segment bounded by the yz, zx and xy orthogonal coordinate planes and by two curved surfaces which are defined by fairly general polynomial expressions in the coordinates x, y and z. The surface representing the interface between two material layers in the solid is also described by a polynomial expression in the coordinates x, y and z. In order to demonstrate the accuracy of the approach, natural frequencies are given for both a two- and three-layered spherical shell and for a homogeneous hollow cylinder, as computed using the present approach, and are compared with those obtained using an exact solution. Results are then given for a number of two- and three-layered cylinders and, to demonstrate the versatility of the approach, natural frequencies are given for a five-layered cantilevered beam with a central circular hole as well as for a number of composite solids of more general shape. 相似文献
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通过分析膨胀套在实际使用产生滑移受阻现象、卡死现象原因的实质,并在分析产生问题原因的基础上提出了改进措施即:增加导向机构。 相似文献
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设计了磨粉机快辊轴承座的加工工艺和具体的工装夹具.利用卧式加工中心加工磨粉机快辊轴承座,辅以能够高效快速夹紧的夹具,既可以保证加工精度,又能够提高加工效率. 相似文献
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本文以某些积算和双笔记录仪产品为例说明由于仪表功能设计的不合理或选型不当,影响了仪表的正常使用,制造厂和用户应关注这类问题。 相似文献
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一种涡旋压缩机径向随变机构的设计 总被引:1,自引:0,他引:1
详细介绍了运用随变原理设计的一种新型径向密封机构的结构特点,工作原理及主要参数的确定方法,该机构可补偿由于涡旋体加工精度不高而造成的功率损失,适用于涡旋压缩机的批量生产。 相似文献
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Modern methods of implementation of the rule of positive gradient of mechanical properties are considered; this rule was formulated by I.V. Kragelskii and its application serves to minimize the friction and wear of solids. The given methods include the application of coatings with the method of finishing antifricton abrasion-free treatment; application of new metal-cladding lubricating materials; and creation of a nanostructural state of the surface iron nitride layer by nitriding steel with a positive gradient of hardness normal to the surface. 相似文献
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V. P. Dragunov E. G. Kostsov 《Optoelectronics, Instrumentation and Data Processing》2009,45(3):234-242
Specific features of operation of one- and two-capacitor microelectromechanical converters (MEMC) of energy of mechanical microscopic vibrations into electric energy with a modulated electrode-gap magnitude and with allowance for the mutual influence of electrical and elastic forces are analyzed, and the characteristics of these two devices are compared. The main factors restricting the increase in MEMC power are demonstrated to be the effects of “collapsing” and the condition of conservation of positive rigidity of the system. Expressions for estimating the limiting MEMC parameters are derived. The possibility of electrical energy generation in the presence of “real“ sources of wide-spectrum microscopic vibrations is considered. 相似文献