Research On The Stance Stability Of Hopping Kangaroo Robot Considering Tail

With the bionic robot developing in these fields which adapt the unstructured and unknown environment, and complete various complex works flexibly and reliably, settling the motion stability of bionic robot has become the key problem and frontal topic. Therefore, based on the characteristics of kangaroo's leaping motion, this paper established the multi-body dynamics organ model of hopping kangaroo robot and analyzed the stance stability of leaping motion.First of all, on the base of referring dozens of references of bionic robotics' motion stability home and abroad, this paper summarized the present status of the research on the one-legged and multi-legged bionic robotics' motion stability, and indicated the proper method and theory of researching bionic robotics' motion stability. Based on the kangaroo's leaping motion research, the spring one-legged model of hopping kangaroo robot was developed. By using the Lagrange method, the correlative dynamics equation was set up, and the analytic expressions of joint moment were deduced. The kinematic and kinetic characteristics rule between the model considering tail and the model without considering tail were gained by the analysis of the emulational model in Matlab 7.1. The analytic result proves that the tail has great influence on stance of the robot, and it can decreases the impact of the ground.Next, according to the characteristics of kangaroo's leaping motion, one-legged five-link rigid-body model was developed. By using the D'Alembert theory, the corresponding kinetic model was set up, the steady locomotion condition of touchdown and flying phase were gained. And then, I have used momentum theory to establish the tail's swing equation of the touchdown and flying phase. The rule of the tail's velocity was gained by Matlab7.1. Based the simplified model, the hip and ankle track were marked out by the target that the ZMP point of the robot must be in the foot region, the availability of this method was proved by analytical calculation.Finally, the emulational model was gained by ADAMS. The drive moment and energy consumption of joint's rule were produced.The conclusion is the same as the front results, so these kinetic model and analytical mthod are available.The research of this paper will be the foundations for the machine design and the...