Design of multi-DOF jumping robot
Design of multi-DOF jumping robot
复制标题
多自由度跳跃机器人设计
DOI：
10.1109/robot.2002.1014358
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
T. Mita
中科院分区：
文献类型：
--
作者：
K. Arikawa;T. Mita
我们正在研究由多自由度连杆组成的机器人的设计和控制，可以执行跳跃运动。我们称这种机器人为“多自由度跳跃机器人”。本文以一个五连杆、四关节的纵平面串联连杆为例，介绍了一种多自由度跳跃机器人。从实现实际力学模型的角度出发，讨论了确定其设计参数的过程。设计参数不仅包括机械参数，还包括运动规划参数，因为每个关节的运动状况强烈地依赖于运动规划。首先，我们展示了我们处理的跳跃运动类型，并推导出实现这一点的条件。然后，我们提出的运动规划方法跳跃运动的基础上的地面和空中阶段之间的边界状态。其次，讨论了适用于多自由度跳跃机器人设计的直流电动机的极限特性，并给出了极限特性的表达式。然后，我们提出了一套实用的设计参数，并显示了两种类型的跳跃运动，正常的跳跃和空翻的仿真结果。
We are researching the design and control of robots composed of multi-DOF linkages that can perform jumping motions. We call such a robot the "multi-DOF jumping robot". We take a 5 link, 4 joint serial link in a vertical plane as an example of a multi DOF jumping robot. We discuss the process to determine its design parameters from the viewpoint of realizing actual mechanical models. The design parameters include not only mechanical parameters but also motion planning parameters, because the motion condition of each joint strongly depends on motion planning. First, we show the type of jumping motion that we deal with and derive the conditions to achieve that. Then, we propose the motion planning method for jumping motions on the basis of a boundary state between ground and aerial phases. Next, we deliberate the limit characteristic of DC motors that are suitable for multi-DOF jumping robot design, and show the equations that express the limit characteristic. Then, we present one set of practical design parameters, and show simulation results of two types of jumping motions, normal jump and somersault.