| 仿袋鼠单足跳跃机器人的机械设计 |
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| 引用本文： | 高慧.仿袋鼠单足跳跃机器人的机械设计[J].北京工业职业技术学院学报,2009,8(1):9-11. |
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| 作者姓名： | 高慧 |
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| 作者单位： | 北京工业职业技术学院,北京,100042 |
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| 摘 要： | 针对目前跳跃机器人模型的局限性，仿照袋鼠的身体结构，依据其跳跃运动的特点，设计了一种非SLIP模型（弹性负载倒立摆模型）的单足跳跃机器人系统模型，并在对其进行运动学、动力学分析及优化设计的基础上，设计出了各部分整体结构。该机器人模型具有更好的仿生学特征，其特点是：体积小、重量轻、能耗低、速度快、适应能力强。
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| 关 键 词： | 跳跃机器人 机构学模型 机械结构设计 |
Mechanical Design of Kangaroo-like One-leg Hopping Robot |
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| Gao Hui.Mechanical Design of Kangaroo-like One-leg Hopping Robot[J].Journal of beijing vocational & technical institute of industry,2009,8(1):9-11. |
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| Authors: | Gao Hui |
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| Institution: | Beijing Polytechnic College;Beijing 100042;China |
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| Abstract: | Aiming at the limit of present hopping robots and in accordance with the structure of kangaroo body and its characteristics of hopping,this paper designs a model of one-leg hopping robot system which is different from SLIP,and on the basis of its analysis of kinematics and dynamics and the optimization of the design goes into details to describe the whole structure of various components.This robot model shows better feathers of bionics with advantages including small size,light weight,low energy consumption... |
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| Keywords: | hopping robots dynamic modeling design of mechanical structure |
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