[1]董洋洋,韩少杰,左堃罡,等.可变起跳角度的球形跳跃机器人跳跃分析及其优化[J].机械与电子,2021,(02):74-80.
　DONG Yangyang,HAN Shaojie,ZUO Kungang,et al.Optimal Design and Dynamic Analysis of Spherical Hopping Robot with Variable Take-off Angle[J].Machinery & Electronics,2021,(02):74-80.
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可变起跳角度的球形跳跃机器人跳跃分析及其优化()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2021年02期
页码:
74-80
栏目:
智能工程
出版日期:
2021-02-26

文章信息/Info

Title:
Optimal Design and Dynamic Analysis of Spherical Hopping Robot with Variable Take-off Angle
文章编号:
1001-2257（2021）02-0074-07
作者:
董洋洋; 韩少杰; 左堃罡; 张子建
南京航空航天大学航天学院,江苏 南京 210016
Author(s):
DONG Yangyang;  HAN Shaojie;  ZUO Kungang; ZHANG  Zijian
College of Aerospace Engineering, Nanjing University of Aeronautics and  Astronautics, Nanjing 210016, China
关键词:
可变起跳角跳跃机器人; 跳跃机器人; 拉格朗日动力学; 动力学
Keywords:
hopping robot with variable take off angle; hopping robot; Lagrangian dynamics; dynamics
分类号:
TP13;TP242
文献标志码:
Ａ
摘要:
针对跳跃机器人越障时自主控制与调整的局限性，设计了一款可变起跳角的球形跳跃机器人，该机器人采用C60结构镂空外壳和平台调姿机构可实现变角度跳跃目标。通过分析机器人起跳、滞空、落地的运动过程，采用拉格朗日方程对机器人跳跃过程动力学进行建模。建立了起跳角对速度的影响方程，并针对单足跳跃过程，揭示起跳过程中打滑现象的产生与摩擦角之间的关系。基于机器人动力学方程，研究跳跃机器人面对越障时，与障碍物距离和起跳角度对跨越和爬升的影响。最后，利用ANSYS对其动力学进行仿真分析，有效保障了机器人跳跃任务的顺利完成，为球形跳跃机器人规划问题奠定了理论基础。
Abstract:
In view of the limitations of autonomous control and adjustment of jumping robot when crossing obstacles, the project team designed a spherical jumping robot with variable take-off angle. The robot adopts C60 structure hollow shell and platform attitude adjustment mechanism to achieve variable angle jumping target. In this paper, by analyzing the motion process of the robot’s take-off, stagnation and landing, Lagrange equation is used to model the robot’s jumping process dynamics. The equation of the influence of the take-off angle on the velocity is established, and the relationship between the sliding phenomenon and the friction angle is revealed. Based on the dynamic equation of the robot, the influence of the distance between the jumping robot and the obstacle and the takeoff angle on the crossing and climbing is studied. Finally, the dynamics of the robot is simulated and analyzed by ANSYS, which effectively guarantees the successful completion of the jumping task of the robot, and lays a theoretical foundation for the planning of the spherical jumping robot.

参考文献/References:

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备注/Memo

备注/Memo:

收稿日期：2020-08-27

作者简介：董洋洋（1985― ），女，吉林白山人，博士研究生，讲师，主要研究方向为空间机器人技术、非线性系统、智能驱动；韩少杰（1995—），男，山东烟台人，硕士研究生，主要研究方向为跳跃机器人技术。

更新日期/Last Update: 2021-02-26