单足机器人垂直跳跃落地碰撞冲击力分析

发布时间：2018-07-03 02:45

本文选题：单足机器人 + 垂直跳跃　；参考：《哈尔滨工业大学学报》2017年07期

【摘要】：为研究落地碰撞冲击力的变化规律,针对垂直跳跃单足机器人球面尼龙足底与橡胶地面的碰撞过程,建立由支撑腿和机身的动力学模型、橡胶地面大变形黏弹性力学模型和气缸上下腔气体热力学模型组成的整体数学模型和仿真模型.仿真结果表明:压缩阶段递增的弹性力和先增后减的阻尼力使地面冲击反力先增大后减小,恢复阶段快速减小的弹性力和反向阻尼力共同作用导致冲击反力单调减小;最大冲击力随下落高度、橡胶贮能模量的增大和橡胶垫厚度的减小单调增大,随橡胶耗能因子与频率比值的增大先减小后增大;单足机器人0.1 m垂直跳跃落地碰撞的实验结果表明,实验数据与仿真结果的相对误差7.6%,验证了所采用理论分析方法和仿真结果的正确性.
[Abstract]:In order to study the change of impact force of landing impact, a dynamic model of support leg and fuselage was established in view of the collision process between spherical nylon foot and rubber ground of vertical hopping monopod robot. The integral mathematical model and simulation model of large deformation viscoelastic mechanics model of rubber ground and gas thermodynamics model of upper and lower cylinder cavities. The simulation results show that the increasing elastic force at compression stage and damping force at first increase and then decrease the ground impact reaction force, and the rapid reduction of elastic force and reverse damping force in recovery stage result in monotone reduction of impact reaction force. The maximum impact force increases monotonously with the decrease of rubber energy storage modulus and rubber cushion thickness, and decreases first and then increases with the increase of the ratio of rubber energy dissipation factor to frequency. The experimental results show that the relative error between the experimental data and the simulation results is 7.6, which verifies the correctness of the theoretical analysis method and the simulation results.
【作者单位】：哈尔滨工业大学(威海)船舶与海洋工程学院;
【基金】：机器人技术与系统国家重点实验室开放基金项目(SKLRS-2011-MS-02)
【分类号】：TP242

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