Comparison of Linear and Torsion-Based Dynamic Modeling of a Jumping Robot via Energy Conversion

被引:2
作者
Choi, JaeNeung [1 ]
Jeong, Kyungmin [2 ]
Seo, TaeWon [1 ]
机构
[1] Yeungnam Univ, Sch Mech Engn, 280 Daehak Ro, Gyongsan 38541, Gyeongsangbuk D, South Korea
[2] Korea Atom Energy Res Inst, Nucl Convergence Technol Div, 70 Yuseong Daero,1312beon Gil, Daejeon 34057, South Korea
基金
新加坡国家研究基金会;
关键词
Compliant link; Dynamic modeling; Energy conversion; Jumping robot; Pseudo-rigid-body model; COMPLIANT MECHANISMS; DESIGN; TRACKING; JOINTS; BEAM;
D O I
10.1007/s12541-017-0181-6
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
Dynamic modeling is very important for estimating the movements and forces of a robot. The model is used for detailed design of the kinematic and actuator parameters and for the synthesis of a controller. An incorrect model results in poor performance or unstable operation of the robots. A jumping robot is generally modeled by switching systems for before and after jumping, and a precise model is necessary to perform effective jumping. This paper analyzes two dynamic modeling methods for a jumping robot via the energy conversion principle. The robot uses a compliant link to jump by storing kinetic energy as potential energy in elastic deflection. Linear and torsion-based dynamic models were developed, and the torsion-based model uses a pseudo-rigid-body model. The modeling results were verified by simulation and experiment, and the results shows that the simple linear model is more suitable for estimating the movement. The model can be used to determine the optimal design parameters for effective and energy-efficient jumping.
引用
收藏
页码:1529 / 1535
页数:7
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