华中科技大学学报：自然科学版2012，Vol.40Issue(11)：17-21,5.
闭链式弹跳机器人起跳阶段动力学分析
Dynamics analysis of closed-chain hopping robot in takeoff phase
摘要
Abstract
A hopping robot used in unstructured environment was designed, and the closed-chain ro- bot adopts asymmetric six-bar geared linkage as thrusting mechanism. In order to analyze hopping performance, dynamics analysis about the robot in takeoff phase was carried out. Firstly, the posi- tion, velocity and acceleration equations about robot in takeoff phase were established by use of closed vector method, and then, dynamics model was derived using general equation of dynamics. On the base above, dynamics equation was resolved by Matlab software. Jumping experiment was conducted using the developed prototype. The theory values are in closely consistent with the experiment re- sults, which prove the validity of the dynamics model and numerical analysis.关键词
弹跳机器人/闭链机构/动力学/起跳/动力学普遍方程Key words
hopping robot/closed-chain mechanism/dynamics/takeoff/general equation of dynamics分类
信息技术与安全科学引用本文复制引用
柴辉,葛文杰,杨方,魏敦文..闭链式弹跳机器人起跳阶段动力学分析[J].华中科技大学学报：自然科学版,2012,40(11):17-21,5.基金项目
国家自然科学基金资助项目 （）
国家高技术研究发展计划资助项目 （）
