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Abstract: A
mechanism model and a kinematics research method for bionic kangaroo
hopping robot are presented. Based on studying kangaroo’s motion
structure and kinescope, a single leg hopping mechanism consisted of
four-links for bionic kangaroo hopping robot is presented. The robot
kinematics equations during stance and flight phases are established and
its direct kinematics is researched through D-H method. The expression
about the hopped position and pose of robot’s phases and the center
motion path of the robot body’s mass are given. The different
coefficient motion relation between the robot body’s mass center and
joints, and the velocity analysis method of the body’s mass center are
found by using Jacobian matrix. The robot’s kinematics is calculated by
using Matlab and the results are discussed. The mechanism for kangaroo’s
further hopping extent and lower energy consuming are explained. The
analysis results coincide with the observation from the kinescope and
the study on biologic motion of kangaroo. The research shows the
feasibility of this bionic hopping model and validity of the research
method.
Key
words: Bionic
kangaroo robot Hopping mechanism Direct kinematics Gait analysis
CLC No: TP242
国家自然科学基金资助项目(50375120). Received 20050606,
received in revised form 20051228
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