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根据袋鼠跳跃运动的特点,建立了仿袋鼠机器人的弹簧—质量模型.采用拉格朗日法通过线性化近似分析建立了其动力学方程,并对其进行了着地阶段径向与横向运动分析.根据步态运动稳定性的条件,研究了仿袋鼠跳跃机器人顶点反射映像函数、固定点的存在性及其稳定性,获得了仿袋鼠机器人在跳跃过程中满足步态稳定性的各个参数的取值范围,以及各参数之间关系的显式表达式.最后,通过实例证明了采用线性化近似分析的有效性,并获得了仿袋鼠机器人稳定跳跃时各参数之间的变化关系.
According to the characteristics of kangaroo hopping movement, a spring-mass model of the kangaroo robot is established, and its dynamic equation is established by the linear approximation analysis by Lagrange method, and the radial and lateral movement of the kangaroo robot are analyzed. According to the condition of gait motion stability, the vertex reflection mapping function, the existence and stability of the fixed point of the kangaroo hopping robot are studied, and the parameters of the kangaroo robot satisfying the gait stability during jumping are obtained. Range and the explicit expression of the relationship between the parameters.Finally, the validity of linear approximation analysis is proved by an example, and the relationship between the parameters of the kangaroo robot with stable jumping is obtained.