吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (6): 1987-1994.doi: 10.13229/j.cnki.jdxbgxb201606031
周于1, 2, 3, 付成龙1, 2, 3, 陈恳1, 2, 3
ZHOU Yu1, 2, 3, FU Cheng-long1, 2, 3, CHEN Ken1, 2, 3
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。
中图分类号:
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