论文部分内容阅读
基于多体动力学和摩擦及碰撞效应设计了一种可俯仰下行的被动移动机器鸭装置。该装置无任何驱动器和控制器,通过与斜面间的滚动、滑动、支撑等接触状态的变换,能够周期性、稳定地走下斜面。文中进行了机器鸭装置的动力学建模,提出了被动下行的周期性步态序列,应用虚拟样机技术对其进行了动力学仿真,并制作了原理样机。动力学仿真和样机试验表明,机器鸭能够实现稳定周期性的被动行走,验证了机器鸭力学构型设计和步态规划的正确性。
Based on the multi-body dynamics and the friction and collision effects, a kind of passive moving machine duck device can be designed to pitch down. The device without any driver and controller, through the ramp with the rolling, sliding, support and other changes in contact state, can be periodically and steadily down the slope. In this paper, the dynamic modeling of the Duck device is proposed, and the passive downlink gait sequence is proposed. The virtual prototyping technology is used to carry out the dynamics simulation and the prototype is produced. Dynamic simulation and prototype tests show that Duckbill can achieve steady and periodic passive walking, which verifies the correctness of mechanical duckling design and gait planning.