仿袋鼠机器人腾空阶段跳跃运动特性研究.pdfVIP

) ) ) , , 710072 : , D- H , , MATLAB , : ; ; ; : T P242 : 1004 ) 132X(2007) 2 1) 2521) 04 Research on the Kinematic Character istics of Bionic Kangaroo- Hopping Robot during Flight Phase Ge Wenjie Huang ie Yang F ang Northwest ern Polyt echnical University, Xi. an, 710072 Abstr act: Based on the body configur ation and kinematics char act eristics of kangaroo in it s flight phase, a new method to analyse the torque charact eristics was present ed. A model to simulat e the kan2 garoo robot in the flight phase was also founded using D- H method. T he equations of the model were derived using Lagrange method and the model was simulated by Matlab at last . The r esults show that , the hip and knee joints play the most import ant r ole in tuning the configuration of kangaroo hopping robot in flight phase, which is the basis for the experiment al research and choosing dr iving ac2 tuators. Key words: kangaroo- hopping r obot; kinematics charact er istic; dynamics charact eristic; bionics 0 引言 , , , , , , , , , , , , , 1S1AABBCCD DE , , ABCD li (i = 1, 2, , ,5), Hi , , [ 1] 2 运动学及动力学分析 , ,