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对具有柔性关节的仿袋鼠跳跃机器人落地稳定性进行了研究。用拉格朗日方法建立了机构在着地阶段的动力学方程。结合实例,运用Matlab和Adams软件对机器人进行仿真分析,给出了机器人在着地阶段的各关节转角、关节驱动力矩、着地压力及ZMP随时间的变化规律。分析结果表明:膝关节,特别是踝关节引入柔性关节,不仅能显著地吸收落地能量而获得落地缓冲能力和降低关节输入力矩峰值而减小驱动元件的功率,而且能有效地提高跳跃机构的弹跳能力和落地稳定性。
The stability of the robot walking on the ground with a soft joint was studied. The Lagrange method was used to establish the dynamic equation of the institution during the land-holding phase. Combined with the example, the simulation analysis of the robot with Matlab and Adams software is given, and the law of joint rotation angle, joint driving torque, landing pressure and ZMP with time are given. The analysis results show that the knee joint, especially the ankle joint, can not only absorb the landing energy significantly, but also absorb the landing shock effectively and reduce the peak torque of joint input to reduce the power of the driving element. Moreover, it can effectively improve the jumping of the jumping mechanism Capability and floor stability.