| 仿人跑步机器人变拓扑结构动力学分析 |
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| 引用本文： | 魏航信,吴伟,刘明治.仿人跑步机器人变拓扑结构动力学分析[J].力学与实践,2009,31(5):51-55. |
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| 作者姓名： | 魏航信 吴伟 刘明治 |
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| 作者单位： | 西安石油大学 |
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| 基金项目： | 高等学校博士学科点基金 |
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| 摘 要： | 提出了仿人跑步机器人变拓扑结构动力学的分析方法. 首先建立坐标系统，
接着推导机器人的约束方程和雅可比矩阵，并以此为基础得到机器人在起跳阶段和飞行阶段
的动力学方程，同时确定不同阶段相互转换的识别方程，作为机器人从一个阶段转向另一个
阶段的条件. 另外对机器人从空中落地时着地脚和地面的冲击现象进行了分析. 最后采用
ADAMS软件建立了机器人的虚拟样机模型，通过模型仿真验证了该方法的有效性和可行性.
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| 关 键 词： | 仿人跑步机器人 动力学 变拓扑结构 |
| 收稿时间： | 2008-9-16 |
DYNAMIC ANALYSIS WITH CHANGING TOPOLOGY OF A HUMANOID RUNNING ROBOT |
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| WEI Hangxin
,
WU Wei
,
LIU Mingzhi.DYNAMIC ANALYSIS WITH CHANGING TOPOLOGY OF A HUMANOID RUNNING ROBOT[J].Mechanics and Engineering,2009,31(5):51-55. |
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| Authors: | WEI Hangxin WU Wei LIU Mingzhi |
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| Abstract: | An analysis of dynamics with changing topology for the
humanoid running robot is carried out. First, a coordinate system is
chosen. Then the constraint equation and the Jaccobi matrix are derived and the
dynamics equations of the robot in stance phase and in flight phase are
obtained. Next, the identification equation in different phases is
derived as the condition of the robot from one phase to another phase. In
addition, the impact between a foot of the robot and the ground is analyzed
when the robot contacts the ground from the air. Finally, a virtual model
of the robot is built by the software ADAMS and the validity of the method
is verified by the simulation for the virtual model of the robot. |
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| Keywords: | Humanoid running robot Dynamics Changing topology |
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