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针对仿蛙跳跃机器人在起跳阶段脚掌与地面之间的被动约束,提出了一种考虑脚掌欠驱动的起跳加速性能度量方法。建立了机器人的起跳分析模型,提出了用虚拟加速度和虚拟力矩来表达质心加速度与主动关节驱动力矩的关系,确定了适于冗余欠驱动机器人的动态可操作矩阵,给出了仿蛙跳跃机器人在给定方向质心加速性能的动态方向可操作度量指标。算例表明,当在不同位形输入恒定力矩时,质心在给定方向的瞬时加速度与动态方向可操作度的变化趋势一致,表明了提出的度量方法对质心加速性能指标的评价是可行的。
In view of the passive constraint of the frog jumping robot during the take-off phase between the soles of the feet and the ground, a method of take-off acceleration performance measurement considering the underarm actuation is proposed. The model of take-off analysis of the robot is established. The relationship between the acceleration of the centroid and the driving moment of the active joint is expressed by the virtual acceleration and the virtual moment. The dynamic maneuvering matrix suitable for the redundant underactuated robot is determined. Metrics can be manipulated in the dynamic direction of centroid acceleration performance in a given direction. The results show that the instantaneous acceleration of the centroid in a given direction is consistent with that of the dynamic direction when a constant moment is input at different positions, which shows that the proposed method is feasible to evaluate the centroid acceleration performance.