[1]冯文博,樊继壮,赵 杰.气动仿青蛙跳跃机器人动力学分析[J].机械与电子,2015,(11):72-76.
　FENG Wenbo,FAN Jizhuang,ZHAO Jie.Kinetic Analysis of Bionic Frog Pneumatic Hopping Robot[J].Machinery & Electronics,2015,(11):72-76.
点击复制

气动仿青蛙跳跃机器人动力学分析
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年11期
页码:
72-76
栏目:
智能工程
出版日期:
2015-11-25

文章信息/Info

Title:
Kinetic Analysis of Bionic Frog Pneumatic Hopping Robot
文章编号:
1001-2257(2015)11-0072-05
作者:
冯文博; 樊继壮; 赵 杰
(哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江 哈尔滨 150001)
Author(s):
FENG Wenbo; FAN Jizhuang; ZHAO Jie
(State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001,China)
关键词:
气动人工肌肉;  机器人;  运动学分析;  动力学分析
Keywords:
pneumatic artificial muscle;  robot;  kinetic analysis;  dynamic analysis
分类号:
TP24
文献标志码:
A
摘要:
以青蛙为原型设计了一种仿青蛙跳跃机器人。该机器人以气动人工肌肉为驱动器,使得机器人具有更好地仿生性能。将机器人的运动分为3个阶段,进行了运动学分析,并运用拉格朗日法进行动力学分析,获得动力学方程。利用ADAMS-Matlab仿真验证了动力学方程的正确性,为进一步的研究工作奠定了基础。
Abstract:
A bionic frog pneumatic hopping robot has been designed based on the motional characteristics of the frog. Artificial pneumatic muscles has been chosen to drive of the robot, because pneumatic muscles gives the robot better bionic performance. In this paper, the motion of the robot is divided into three phases. After the kinematics analysis finished, by using the Lagrangian method, dynamics analysis can be done and the kinetic equation can be obtained. ADAMS-Matlab simulation is used to verify the correctness of kinetic equations, and to establish the foundation for further research.

参考文献/References:

[1] 刘壮志, 席文明, 朱剑英. 弹跳式机器人的研究[J].机器人,2003,25(6):568-573.
[2] 王猛.仿青蛙跳跃机器人的研制[D].哈尔滨:哈尔滨工业大学,2009.
[3] Raibert M H.Legged robots that balance[M]. Cambridge:The MIT Press,1986.
[4] Zeglin G J.Uniroo: a one-legged dynamic hopping robot[D].Cambridge, Massachusetts:Department of Mechanical Engineering, Massachusetts Institute of Technology, 1991.
[5] Zeglin G Z,Brown H B.First hops of the 3D Bow Leg[C]//Proceedings of the 5th International Conference on Climbing and Walking Robots, 2002:357-364.
[6] Pearce J L,Rybski P E,Stoeter S A, et al. Dispersion behaviors for a team of multiple miniature robots[C]//IEEE Conference on Robotics and Automation, 2003:1158-1163.
[7] Stoeter S A,Papanikolopoulos N.Autonomous stair-climbing with miniature jumping robots[J]. IEEE Transactions on Systems, Man, and Cybernetics, 2005, 35(2):313-325.
[8] Kikuchi K,Sakaguchi K,Sudo T.A study on a wheel-based stair-climbing robot with a hopping mechanism[J].Mechanical Systems and Signal Processing,2008, 22:1316-1326.
[9] Playter R,Buehler M,Raibert M.BigDog[C]// Unmanned Systems Technology VIII, 2006:6230.
[10] Caldwell D G, Tsagarakis N, Medrano-Cerda G A,et al.A pneumatic muscle actuator driven manipulator for nuclear waste retrieval[J].Control Engineering Practice,2001,9(1):23-26.

相似文献/References:

[1]郝庆军,王刚,李莉,等.法兰密封面三维光学检测系统设计[J].机械与电子,2018,(05):37.
　HAO Qingjun,WANG Gang,LI Li,et al.Design of Three-Dimensional Optical Inspection System for Flange Seal Surface[J].Machinery & Electronics,2018,(11):37.
[2]张佳林,黎兰,刘相新.可穿戴外骨骼机器人的发展现状与应用研究[J].机械与电子,2018,(03):77.
　ZHANG Jialin,LI Lan,LIU Xiangxin.Development and Application Research of Wearable Exoskeleton Robot[J].Machinery & Electronics,2018,(11):77.

备注/Memo

备注/Memo:
收稿日期:2015-05-25
基金项目:国家自然科学基金(51005052); 机器人技术与系统国家重点实验室自主课题资助项目(SKLRS201001C)
作者简介:冯文博(1990-),男,黑龙江哈尔滨人,硕士研究生,研究方向为仿生跳跃机器人; 樊继壮(1976-),男,江苏赣榆人,博士,副教授,研究方向为仿生机器人、移动机器人等; 赵 杰(1968-),男,黑龙江哈尔滨人,博士,教授,研究方向为机器人技术等。
更新日期/Last Update: 2019-11-25