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基于对蟋蟀的身体结构及运动的研究,提出了仿蟋蟀机器人跳跃机构的分析模型,采用D-H法,建立了机器人着地阶段的运动学方程,给出了机器人在跳跃过程中的运动姿态及躯体质心的运动轨迹表达式,建立了机器人躯体质心与关节转角间的微分运动关系及速度分析方法。结合实例对机器人进行了运动学仿真并对结果进行讨论。研究结果与生物学实测结果相近,从而证明了仿生跳跃机构模型的可行性和运动分析方法的有效性。
Based on the study of body structure and movement of crickets, the analysis model of cricket-like robotic jumping mechanism was proposed. By using DH method, the kinematics equation of robot’s landing phase was established. The robot’s posture of movement and body mass center , The differential motion between the robot’s body centroid and the joint corner and the velocity analysis method are established. The kinematics simulation of the robot is carried out with the example and the result is discussed. The results are similar to those of the biological test results, which proves the feasibility of the bionic jumping mechanism model and the validity of the motion analysis method.