Forward and Reverse Dynamics Analyses on Four-bar Linkage Leg Mechanism of Legged Robots Based on Transfer Matrix Method
To ensure control accuracy and instantaneity of leg mechanism for legged robots,geometric kinematic analysis on four-bar linkage leg mechanism of legged robots was carried out by using vector algebra method.A mass dispersion method for typical bars of four-bar linkage leg mechanism of legged robots was established according to finite element form function theory.On the basis of geometric kinematic analysis and principle of moment balance,forward and reverse dynamic analyses were carried out respectively.A unified forward-reverse dynamics model for four-bar linkage leg mechanism of legged robots was established by using principle of linear transformation and combining transfer matrix method.A virtual prototype model for four-bar linkage leg mechanism of legged robots was established by using Adams software for example analysis of forward and reverse dynamics simulation.The results show that errors of three cylinder forces and plantar forces in three directional between the established unified forward-reverse dynamics model and the virtual prototype model for four-bar linkage leg mechanism of legged robots are less than 1％and 3％,which verifies that the established unified forward-reverse dynamics model for four-bar linkage leg mechanism of legged robots can accurately solve cylinder force and plantar force.
NETL
NSTL
万方数据
维普
