液动仿袋鼠弹跳机器人单腿动力学分析及仿真

摘要

A scheme for hydraulically actuated hopping robot of bionic Kangaroo is proposed,in which the Lagrange dynamics equations of one leg with four-DOF are establishedOn the basis of the data of Kangaroo hopping and in accordance with dynamics equations the variable regular pattern of the driving forces for three hydraulic cylinders in a kinetic cycle are figured out.The model of the robot of bionic Kangaroo is established and simulated for the kinematics and the dynamics,which results are compared with the data measured from the video of Kangaroo, and the feasibility of actuated project and the validity of the model are confirmed%提出了液压能驱动的仿袋鼠跳跃机器人驱动方案,并采用拉格朗日方法建立了袋鼠四自由度单腿跳跃的动力学方程.在此基础上,依据袋鼠跳跃的运动数据,按照所建立的动力学方程求得了一个运动周期内三个关节液压缸的驱动力的变化规律.建立了仿袋鼠机器人的模型并依据求得的仿袋鼠跳跃机构驱动力的变化规律,进行了运动学及动力学仿真.与袋鼠跳跃运动录像资料所得数据进行了对比分析,证实了所提出的驱动方案的可行性以及所建模型的正确性.