一种被动缓冲型腿机构及其缓冲特性分析.pdfVIP

中国机械工程第 18卷第24期2007年 12月下半月 一 种被动缓冲型腿机构及其缓冲特性分析 余联庆 。 吴昌林。 马世平。 1．武汉科技学院，武汉，430073 2．华中科技大学，武汉，430074 3．浙江师范大学，金华，321004 摘要：针对隔离着地冲击的需要，为步行机器人设计了一种由连杆、线性拉伸弹簧和线性阻尼器构 成的被动缓冲型腿机构，根据该机构的几何关系导出其等效刚度，并且给出了机构个别参数对刚度的影 响。利用数据拟合将该等效刚度分段表示为三次非线性刚度和线性刚度；然后利用数值方法得到了缓 冲过程的位移响应和加速度响应；最后分别比较了具有分段非线性刚度、三次非线性刚度和线性刚度的 腿机构缓冲系数。结果表明，在最优阻尼比的情况下，具有分段非线性刚度的腿机构能够获得最小的缓 冲系数，从而为实现步行机器人的快速步行和控制提供了理论依据。 关键词：腿机构；分段非线性刚度；缓冲系数；步行机器人 中图分类号：TP242．6 文章编号：1OO4—132X(2007)24—293O—O3 A Passive Buffer Leg Mechanism and Its Buffering Characteristics Analysis Yu Lianqing ’。 Wu Changlin。 Ma Shiping。 1．Wuhan University of Science and Engineering，Wuhan，430073 2．Huazhong University of Science and Technology，Wuhan，430074 3．Zhen【gJiang Normal University，Jinhua，Zhengjiang，321004 Abstract：This paper presented a passive buffer leg mechanism which was used to isolate the ground impact on walking robots．The leg mechanism consisted of links，a linear tension spring and a linear damper．The equivalent stiffness of the leg mechanism was derived from geometric relation，and the effect of a few leg mechanism parameters on the stiffness was presented．The equivalent stiffness was expressed in piecewise as a cubic stiffness and a linear stiffness through data fitting．Then the dis— placement and acceleration responses during buffering were figured out through numerical computa— tion．The three leg mechanisms with piecewise nonlinear stiffness，cubic nonlinear stiffness and linear stiffness were compared respectively in terms of their buffer coefficients．The result shows that when each leg mechanism connects to an optimal damping ratio in parallel，the leg mechanism with piece— wise nonlinear stiffness can achieve the least buffer coefficient among the three leg mechanisms．This paper lays a theoretical groundwork for