对仿猫跳跃机器人起跳过程中腰部作用的分析

家猫灵活善跳,分析其跳跃规律可为腿型跳跃机器人的设计提供灵感。以能模拟家猫跳跃的仿猫机器人为模本,对其进行结构简化并进行动力学和运动学分析,得到其腰部力矩随时间变化规律,以此分析其腰部在起跳过程中的作用。从能量角度分析起跳时腰部初始夹角与到达特定起跳姿态机构所需做功关系,并对比了有无腰部辅助跳跃时的区别。分析结果说明了腰部在起跳准备阶段的姿态调整对提高效率的作用,证明了有腰部辅助跳跃的机构相比于无腰部辅助跳跃的机构更加灵活高效。

Analysis of Waist Function in Cat-like Robot Take-off process

The cat is flexible and skillful in jumping. The analysis of its jumping law can provide inspiration for the design of leg jumping robot. In this paper, a cat-like robot which can simulate cat jumping is used as a model to simplify its structure and analyze its dynamics and kinematics, and the law of the waist moment changing with time is obtained, so as to analyze the role of the waist in the take-off process. From the energy point of view, the relationship between the initial waist angle during take-off and the work required to reach a specific take-off posture mechanism is analyzed, and the difference between the two is compared. The analysis results show that the waist posture adjustment in the take-off preparation stage can improve the efficiency. It proves that the mechanism with waist-assisted jumping is more flexible and efficient than the mechanism without waist-assisted jumping.