仿青蛙游动机器人动力学分析
Dynamics Analysis of Bionic Frog Swimming Robot
樊继壮 1仇裕龙 1张伟 1王欢1
作者信息
- 1. 哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150001
- 折叠
摘要
仿青蛙游动机器人的动力学分析,是研制仿青蛙水下机器人的基础.通过对所研制的仿青蛙游动机器人机构进行简化,建立机器人系统运动学模型.在此基础上,利用拉格朗日法建立机器人系统的动力学方程,通过逆动力学分析将前期生物青蛙观测实验获取的各关节运动轨迹转化为各关节驱动力矩,最后通过对比分析分别利用MATLAB和ADAMS得到的各关节驱动力矩在一个运动周期内的变化曲线,不仅验证了动力学方程的正确性,也为后期机器人控制系统的设计提供了理论依据.
Abstract
Through simplification of the developed bionic frog swimming robot,the kinematics model of robot system can be established.On this basis,the Lagrange method will be used to establish the dynamnics equation of robot system.And the joint trajectory obtained through pre-observation experiment can be transformed to the joint driving torque by the inverse dynamics analysis.Finally,the comparative analyses of the joint driving torque curves which are obtained through MATLAB and ADAMS in a movement cycle,not only demonstrate the validity of the dynamics equation,but also lay a theoretical foundation for the design of the robot control system.
关键词
青蛙/机器人/动力学分析/MATLAB/ADAMSKey words
Frog/Robot/Dynamics Analysis/MATLAB/ADAMS引用本文复制引用
出版年
2015
NETL
NSTL
维普
万方数据