含闭链异构双腿行走机器人动力学建模与求解

建立了简化的9连杆异构双腿行走机器人模型并给出了机构中存在的封闭链约束方程.采用带约束的多体系统拉格朗日方程建立了系统的动力学模型.对约束求导,给微分-代数混合的动力学方程添加扩展方程,采用预估-校正数值积分方法进行求解.将数值解对约束的不满足作为反馈,给出误差反馈控制方法,来减小数值积分带来的误差,保证算法收敛.针对仿生腿侧进行了动力学仿真计算,比较了带和不带误差反馈数值积分算法解对约束的满足程度以及正逆解的一致性程度.仿真表明建模方法可行且误差反馈控制数值积分可减小数值积分误差,防止误差积累.

Dynamical Modeling and Computing of Biped Robot with Heterogeneous Legs and Closed-Chain

The 9-linkage model of biped robot with heterogeneous legs is given. After building a constraint equation of this robot machine including closed-chain, using multi-body dynamic Lagrangian equation to establish the dynamic equations of this robot system. Determines the differential coefficient of constraint equation to get extended differential equations, then adds them to the system's dynamic equations which are higher-order differential-algebraic mixed equations so as to use numerical integration (algorithm.) Error feedback control is designed to decrease computing error and insure the convergence of this algorithm. Algorithm simulation computing is done to solve the dynamic equation of the bionic leg. Errors of numerical integration with and without error feed back control are compared. All results show the modeling is right and the error feedback control method can improve the precision of numerical integration algorithm and avoid the errors to be cumulated.