考虑尾巴的六刚体仿袋鼠跳跃机器人的落地稳定性研究

摘要

根据袋鼠的生物结构及跳跃的特点，建立了具有尾巴和脚趾的仿袋鼠跳跃机器人六刚体模型。应用拉格朗日方法，建立了机构在着地阶段的运动学和动力学方程。运用Matlab7．0对机器人进行仿真计算分析，给出了机器人在着地阶段的各关节转角、关节驱动力矩、质心轨迹、着地压力和ZMP随时间的变化规律。仿真结果表明：考虑尾巴的六刚体仿袋鼠跳跃机器人能显著提高机构的落地稳定性。%Bsaed on the bionic structure and the motion feature of a kangaroo, we estamlsn a mouel ior unlpeu hopping mechanism of a six-rigid-body bionic kangaroo with tail and toe. We adopt Lagrange method to establish the dynamics and kinematics equations for its stance phase. Taking the hopping robot with parameters as an example and using Matlab 7.0 for simulation ,we obtain the changing rule of each joint angle ,joint driving torque, the centroid trajectory, the ground pressure and ZMP with time of the stance phase. The result shows that the tail can greatly improve the stance stability of the bionic kangaroo robot.