“袋鼠”跳跃机器人动力系统方案设计与研究

提出了“袋鼠”机器人电液驱动动力系统设计方案，包括跳跃机构、动力系统和控制系统的设计．从理论上分析了方案的可行性；运用二阶拉格朗日方程给出了“袋鼠”机器人模型起跳阶段的动力学方程，并通过仿真分析得到了起跳阶段加载动力与速度的关系，为“袋鼠”机器人动力配置提供了依据．最后给出了实验结果，以证实该设计方案的有效性．

Design and Research on the Power System of Kangaroo Hopping Robot

A design scheme is presented for the electro-hydraulic actuator power system of Kangaroo robot,including design of the hopping device,power system and controlling system.The feasibility of the design scheme is analyzed theoretically,the dynamic equations in the taking-off phase are established with the second order Lagrange formula,and the relationship between speed and power loading in the taking-off phase is obtained by simulation analysis,offering the theoretical basis for the power configuration of Kang...