机械科学与技术2012，Vol.31Issue(12)：1898-1903,6.
仿袋鼠跳跃机器人变截面曲线柔性脚着地特性研究
Research on Motion Features of Kangaroo Hopping Robot′s Flexible Curve Foot Based on Beam with Varying Section in the Stance Stage
摘要
Abstract
To improve the flexibility of foot and self-adaptive capacity in shape changes,variable cross section beam was proposed to simulate the compliant foot of hopping kangaroo.To establish the kinetic equation of the stance stage of kangaroo hopping robot,Hamilton′s principle together with finite element method was adopted.The changes of elastic potential energy and trajectory of ankle joint in certain example were analyzed by means of Matlab.Through ANSYS and ADAMS,the dynamic modelling and the motion simulation of kangaroo hopping robot were conducted to gain the variation of ground reaction force and the stiffness characteristic of compliant foot.A experimental platform used to contrast flexible wedge foot and flexible curve foot was set up to measure the acceleration curve in the stance stage.The results indicate that flexible curve foot has the capability to dissipate and store part of the landing impact energy,through which the impact can be eased and the performance of take-off can be improved.关键词
跳跃机器人/柔性脚/落地冲击/有限元法Key words
hopping robot/flexible foot/foot-ground contact/finite element method分类
信息技术与安全科学引用本文复制引用
程静,葛文杰,魏敦文,高建..仿袋鼠跳跃机器人变截面曲线柔性脚着地特性研究[J].机械科学与技术,2012,31(12):1898-1903,6.基金项目
国家自然科学基金项目 （）
国家863项目（2007AA04Z207）资助 （）
