摘要
为了研究弹性减少跳跃机器人能耗、提高能量效率的机理,本文在被动跳跃状态下,对比了负载刚性连接及负载弹性悬挂两种单足跳跃机器人一维跳跃过程的能耗特性,并探讨了悬挂参数对能耗特性的影响。理论分析和仿真结果表明:跳跃支撑相期间,负载弹性悬挂单足跳跃机器人部分能量储存在悬挂弹簧中,有助于减小跳跃能耗;随着悬挂阻尼增大,悬挂弹簧刚度需要相应增大以减小能耗;飞行相中,虽然悬挂阻尼会导致跳跃机器人负载和躯干由于相对运动产生阻尼能耗,但是飞行相阻尼能耗显著小于支撑相,不影响总体节能效果。
In order to understand how elasticity works on reducing energy dissipation and improving locomotion efficiency of hopping robots, the passive hopping behaviors of hopping robot models with rigidly or elastically suspended load are examined. The influence of different system parameters on energy dissipation is discussed. Theoretical analysis and simulation results show that hopping robots with elastically suspended load exhibit lower energy dissipation than those with rigidly suspended load, because part of the kinematic energy is stored in the suspension spring during the stance phase. As the suspension damping increases, higher stiffness will be needed for the suspension spring to minimize the energy dissipation during hopping. During the flight phase, hopping robots with dissipative elastic suspension have energy dissipation which is, however, much smaller than that during the stance phase, therefore the effect of energy dissipation reduction will not be affected.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2016年第6期1987-1994,共8页
Journal of Jilin University:Engineering and Technology Edition
基金
国家自然科学基金项目(51175288
61375099)
摩擦学国家重点实验室项目(SKLT09A03)
关键词
自动控制技术
弹性
跳跃机器人
能量耗散
能量转移
automatic control technology
elasticity
hopping robot
energy dissipation
energy transfer
作者简介
周于（1986-），男，博士研究生．研究方向：仿人与仿生机器人技术．E-mail：zhouyutsinghua@126．com
通信作者：付成龙（1980-），男，副教授，博士。研究方向：仿人与仿生机器人、动力假肢、外骨骼．E-mail：fcl@tsinghua．edu．cn
