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Comprehensive Research on Passive Dynamics Motion of Bionic Mechanical Systems

Author: SuPeng
Tutor: HeGuangPing
School: North China University of
Course: Mechanical Design and Theory
Keywords: One leg bionic robot Passive dynamics Genetic Algorithms Poincare Act Fixed point
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 74
Quote: 1
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Abstract


The biomimetic robot system to adapt to the future world unstructured , the unknown complex environments , is expected to lead the future development of the field of robotics . One leg the bionic robot system is an important branch of the bionic machine system , which has a strong environmental adaptability . In order to improve the efficiency of the movement of the bionic mechanical systems , and to explore the methods and principles of energy efficiency, dexterity bionic mechanical system design , one leg bionic hopping robot for the study, carried out a comprehensive study of passive dynamic movement system . Based SLIP jumping robot , and more in line with the the organisms body structure of the joint on one leg bionic robot mechanism model . Application Lagrange method , the kinetic energy theorem and the theorem of momentum to institutional model for mathematical modeling and motion simulation , simulation results verify the correctness of the model , the theoretical basis for the dynamic movement research . The paper presents a complete numerical algorithm for bionic mechanical system passive dynamic movement . This feature for the effectiveness of the algorithm is influenced by the movement of the initial state , first , the application of the initial state of the algorithm based on genetic optimization algorithm to the minimum dissipation of energy as the goal , to find the optimal initial value of the system periodic motion ; then, using the Poincare system of kinetic equations into algebraic equations ; Finally, the application based on the Newton - Raphson method fixed point search algorithm , passive dynamic periodic motion track search , find Poincare fixed point , limit cycle to find the system passive periodic motion . The numerical algorithm is applied to the study of one leg passive dynamic movement of the the bionic robot mechanical system to obtain the approximate Poincare fixed point , the completion of a system of passive dynamic cycle Yungong planning , so that the motion of the system energy efficiency sex greatly improved , the results provide direct reference for the design of the system corresponding controller .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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