• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Microsystem technologies >Dynamic model and performance analysis of rigid-flexible coupling four-bar leg mechanism for small scale bio-inspired jumping robot
【24h】

Dynamic model and performance analysis of rigid-flexible coupling four-bar leg mechanism for small scale bio-inspired jumping robot

机译：小规模生物启发跳跃机器人刚性柔性耦合四条腿机构的动态模型及性能分析

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Bio-inspired jumping robot can imitate the jumping process of creatures, and can move in environment with large obstacles. This type of robot can be applied to complex situations such as earthquakes and landslides, and has a broad application prospect. Aiming at the problems of the existing micro bionic jumping robots, such as the simple dynamic model and the unclear rigid-flexible coupling characteristics, the dynamic modeling and performance analysis of rigid-flexible coupling jumping leg is conducted in this paper. Based on the analysis of the jumping mechanism of stick insect, a design method of four-bar jumping leg mechanism under multiple constraint conditions is put forward. Then the dynamic model of the rigid-flexible coupling four-bar jumping leg with flexible equivalent tibia and elastic joint is established combining with Lagrange and Newton-Euler dynamic modeling methods, which can describe the dynamic characteristics of the robot quantitatively during jumping. The relationship between the stiffness of flexible tibia and jumping performance is analyzed, which includes energy storage capacity, take-off velocity/acceleration and jumping stability. The analysis results show that proper reduction of stiffness of flexible tibia can improve the dynamic performance of small scale bio-inspired jumping robot. This study offers primary theories for design and analysis of rigid-flexible coupling four-bar jumping leg with flexible equivalent tibia and elastic joint, and it establishes a theoretical basis for studies and engineering applications.
机译：生物启发的跳跃机器人可以模仿生物的跳跃过程，可以在障碍物中移动环境。这种类型的机器人可以应用于诸如地震和山体滑坡的复杂情况，并且具有广泛的应用前景。针对现有的微仿制机器人的问题，如简单的动态模型和不明确的刚性耦合特性，在本文中进行了刚性柔性联轴器跳腿的动态建模和性能分析。基于分析棒昆虫的跳跃机构，提出了多个约束条件下四条跳跃腿机构的设计方法。然后，建立了具有灵活等效胫骨和弹性接头的刚性柔性联轴器的动态模型，与拉格朗日和牛顿 - 欧拉动态建模方法建立，可以在跳跃期间定量描述机器人的动态特性。分析了柔性胫骨和跳跃性能之间的关系，包括能量存储容量，起飞速度/加速度和跳跃稳定性。分析结果表明，柔性胫骨的刚度刚度的适当降低可以提高小规模生物启发跳跃机器人的动态性能。本研究提供了具有灵活的等效胫骨和弹性关节的刚性柔性联轴器四杆跳跃腿的设计和分析的主要理论，并为研究和工程应用建立了理论依据。

著录项

  • 来源
    《Microsystem technologies》 |2019年第9期|共17页
  • 作者

    Zhang Zi-Qiang; Yang Qi; Zhao Jing; Gui Shun;

  • 作者单位

    Beijing Univ Technol Coll Mech Engn &

    Appl Elect Technol Beijing 100124 Peoples R China;

    Beijing Univ Technol Coll Mech Engn &

    Appl Elect Technol Beijing 100124 Peoples R China;

    Beijing Univ Technol Coll Mech Engn &

    Appl Elect Technol Beijing 100124 Peoples R China;

    Beihang Univ Robot Inst Beijing 100191 Peoples R China;

  • 收录信息
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 微电子学、集成电路（IC）;
  • 关键词

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号