Kangaroo Hopping Robot For Inverse Dynamics And Simulation Studies

With the range of application of robot is extensive day by day, the environment that the robots face is more and more complicated, it requires the robot to have stronger ability to topography meeting and independent movement. Kangaroo jumping, have characteristics such as running fast, low energy consumption, little requiring to the ground environment, being steady etc., especially suitable for the complicated, abominable environment and activity, so it has broad application prospects in the interplanetary field of exploring etc.. In order to study kangaroo jump dynamics characteristic, imitative kangaroo hopping robot organization's model is set up in this text, mechanism dynamics of the imitative kangaroo robot is studied, the jumping movement mechanism of the kangaroo is given, then theoretical foundation to design and controlling of the hopping robot movement are established.This thesis firstly studied the theoretical foundation of setting up dynamics model on the basis of consulting and analyzing documents and materials about kangaroo and imitating kangaroo robot both at home and abroad, consult the existing research approach of jumping robot and life inspired robot.Secondly, imitative kangaroo hopping robot four rigid body system is produced in this paper according to limb structural characteristic and hopping characteristic of kangaroo, and dynamics modeling and analysing is carried on in stance phase and in flight phase separately. In stance phase, robot organization and corresponding coordinates system is set up on the basic point of the toe joint, and dynamics equation of the imitative kangaroo hopping robot in stance phase. In flight phase, a non-tree type four rigid body systems is based. Regard the mass center of truck as basic point set up robot connect body system of coordinates, set up robot sport equation in flight phase. Utilizing the theorem of momentum moment, analysed the influence on the posture change of the shank moves to that of the truck in flight phase. On the basis of modeling, combine certain example, utilize MATLAB calculated the kangaroo robot kinematics and dynamics parameter in stance phase and in flight phase, get their change curve with time respectively. Analysis results indicate that the resulting law and the conclusion of kangaroo jump by biomethanics study is identical.