基于弹跃龙的跳跃机器人运动特性分析

摘要

The paper presents a working flow for image processing of the jumper’ s experimental photos so as to demarcate the detailed parameter and carry out calculations. Based on the motion traits of jumper, the paper analyzes the motion trajectory, jump period and the jumper’ s dynamics. The kinematics model is set up, and the expressions for ground bound force and dynamic energy and potential are attained. Example of trod is used to verify the expressions, and the accelerations in vertical and horizontal directions are described.%为便于对跳跃机器人运动特性进行量化标定和计算，设计了弹跃龙试验图片的图像处理流程。根据弹跃龙跳跃的运动特性，分析其质心在典型动作过程中的运动轨迹和力特征，进一步构建了弹跃龙的运动模型，推导了其在落地时期的地表作用力、动作过程中动能和势能的变化与交换，以及弹跃龙本体弹性机构的弹性系数的计算公式，最后以小步跑实例，以着地阶段加速度为指标，进行了计算、分析与验证。