| 跳跃机器人各关节的动力学仿真分析 |
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| 引用本文： | 魏禹,古青波,彭浩宸.跳跃机器人各关节的动力学仿真分析[J].应用科技,2012(3):1-4. |
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| 作者姓名： | 魏禹 古青波 彭浩宸 |
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| 作者单位： | 哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001 |
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| 基金项目： | 高等学校博士学科点专项科研项目(20092304120014) |
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| 摘 要： | 基于跳跃机器人在越障方面优于轮动或爬行机器人的特点,设计了一个三关节跳跃机器人,并建立了简化的机构模型.从分析力学的角度对机器人进行运动分析,采用拉格朗日法建立了站立相和腾空相的动力学方程,并用Matlab对动力学方程进行了数值仿真.仿真结果表明各关节在电机驱动下有小幅度振动.这一结果说明在研究跳跃机器人的稳定性时,要解决各关节小幅度振动问题.
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| 关 键 词： | 跳跃机器人 动力学分析 MATLAB数值仿真 关节振动 |
Dynamic analysis and numerical simulation of each joint of a hopping robot |
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| WEI Yu,GUO Qingbo,PENG Haochen.Dynamic analysis and numerical simulation of each joint of a hopping robot[J].Applied Science and Technology,2012(3):1-4. |
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| Authors: | WEI Yu GUO Qingbo PENG Haochen |
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| Affiliation: | College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China |
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| Abstract: | Hopping robots have advantages of crossing obstacles compared with wheel robots and crawl robots.A three-joint hopping robot was designed and its simplified mechanical model was established.The kinematics of the robot was analyzed in an analytical mechanics view.By using Lagrange method,the dynamic equations of the robot in the standing phase and flying phase were established,and numerical simulation of the dynamic equations was carried out with Matlab.The results of the simulation show each joint driven by the electrical machine has a small amplitude vibration.The results explain that the vibration problem of a hopping robot must be solved when studying its stability. |
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| Keywords: | hopping robot dynamic analysis MATLAB numerical simulation joint vibration |
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