高技术通讯2017，Vol.27Issue(8)：735-743,9.DOI:10.3772/j.issn.1002-0470.2017.08.007
柔索驱动仿生机体弯曲动力学建模与仿真
Bending dynamic modeling and simulation of the bionic body driven by wires
摘要
Abstract
Based on the movement mechanism of quadruped organisms, a kind of bionic body of wire driven quadruped robots is proposed.It is composed of the front body, rear body, bionic spine and two groups of cable driving com-ponents, with the a bility to achieve the lateral or up/down bending.The coordinate transformation method is adopted to analyze the bionic body ' s kinematics.The Lagrange method and the floating coordinate system method are used to analyze the coupled dynamics modeling of the dynamic bending of the bionic body, and the driving force for bending the bionic body is determined.The dynamic bending characteristics of the body of different stiffness are analyzed.Based on the virtual prototype technology, a body dynamic bending simulation is performed to verify the correctness of the theoretical analysis, with the aim of laying the theoretical foundation for the research on improving the mobility of quadruped robots walking in unstructured environments.关键词
四足机器人/柔索驱动/仿生机体/变刚度/刚柔耦合/动力学Key words
quadruped robot/wire driving/bionic body/variable stiffness/rigid flexible coupling/dynamic引用本文复制引用
雷静桃,蒋运旗,吴启帆..柔索驱动仿生机体弯曲动力学建模与仿真[J].高技术通讯,2017,27(8):735-743,9.基金项目
国家自然科学基金(51375289)资助项目. （51375289）
