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Mechanical Science and Technology for Aerospace Engineering. 2014, (12) Core

Study on the Hopping Robot with Three Rigid Body Drived by Hydraulically with Underactuated JointsChinese Full Text

Tan Xiaolong;Dong Haijun;Ge Wenjie;Xu Sheng;School of Mechatronics,Northwestern Polytechnical University;

Abstract: The hopping robot model with three rigid body drived by hydraumatic with underactuated joints is established based on the structural characterization of kangaroo,using torsion spring to simulate the flexible joints and energy storage. The system’ s underactuated dynamic equations are derived during the touch-down phase.According to the example,the hydraulic driving force’ s law and the theory profile graph are studied by the simulation with MATLAB7. 0. Then the physical model is established and applied to the underactuated dynamic simulation based on ADAMS. The present results show that the position of underactuated joints controlled by dynamics’ s coupling is possible. In addition,it is verified that the proposed scheme is feasible and the model is correct by comparing with theoretical stance figure.
Keywords：

acceleration; computer simulation; computer software; coupling; dynamics; efficiency; energy storage; hopping robot; hydraumatic; kinematics; MATLAB; matrix algebra; underactuation;

  • DOI：

    10.13433/j.cnki.1003-8728.2014.1205

  • Series：

  • Subject：

  • Classification Code：

    TP242

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