腿型跳跃机器人跳跃过程运动学及仿真分析

摘要

根据跳跃生物的生理结构及运动特性，设计了腿型跳跃机器人，并建立了简化的机构模型。分析了机器人跳跃过程冗余自由度，建立了机器人的质心运动方程；依据关节空间与质心空间速度的变换关系，对机器人进行运动学分析，并用MATLABR2009b进行数值仿真，得到了机器人关节角度随时间的变化规律，为腿型跳跃机器人控制系统的研究提供了控制参数依据。%　　Based on the physiological structure and hopping feature, a legged hopping robot was designed, and a model of simplified structure was set up. This paper analyzed the redundancy degree of freedom of the robot in the hopping process, established the equation of centroid motion, and analyzed the kinematics of the robot by using the velocity transform relation between joint space and centroid space. Numerical simulation was carried out with MATLABR2009b, and the changing rule of joint angles following the time was obtained, offering the control parameters for study of legged hopping robots.