【摘要】 为解决袋鼠大长脚的柔性和肌肉的储能作用,根据袋鼠的跳跃特点,提出了仿袋鼠跳跃机构伪刚体动力学模型。建立了机构在跳跃过程中的运动学和动力学方程,讨论了袋鼠起跳时解除地面约束的条件和柔性机构的引入对各关节输入的影响。通过实例给出了跳跃过程模型底部受力的变化规律及其相应解释,用Matlab进行了仿真验证,证明柔性机构的引入有效地降低了关节最大输入扭矩,很好地模拟了袋鼠长脚的柔性和肌肉的储能作用。更多还原

【Abstract】 This paper presents the pseudo-rigid-body dynamic model of bionic kangaroo-hopping mechanism based on the hopping characteristic of kangaroo. The flexibility of kangaroo′s feet and the energy storage in its muscle are taken into account. Kinematic equations and dynamic equations of this system are obtained and the conditions to be free from the ground constraint and the influence of each input due to the introduction of compliant mechanism are discussed. Finally, an actual example is given. The force on the bottom of the foot is calculated and simulated by Matlab. The model is proved feasible.更多还原