摘要
针对自行车机器人运动的侧向不稳定性,模仿人骑自行车的动力学特征,充分利用并联机构的结构紧凑、刚度大、响应速度快、承载能力强的特点,提出了一种基于2-RHR型冗余驱动并联机构进行自行车机器人侧向稳定调节的方法,系统地阐述了并联机构侧向调节方式的可行性和优越性。最后,运用第一类拉格朗日方程建立了系统动力学模型,为进一步的动力学及控制策略研究奠定了基础。
Due to traverse motion unstable problem of riderless bicycle, simulating dynamics characteristic on human riding bicycle, and adequately using parallel mechanism＇s merits such as compact frame, great rigidity, rapid response rate and great loading capability, a traverse adjustment method of riderless bicycle based on 2 - RHR redundantly actuated parallel mechanism was presented. Feasibility and advantage of the traverse adjust ment method were expatiated and system dynamics model was built by the first Lagrange＇ s equations. Finally the foundation was provide for further dynamics and control strategy on the riderless bicycle.
出处
《机械设计与研究》
CSCD
北大核心
2008年第1期28-31,共4页
Machine Design And Research
关键词
自行车机器人
侧向稳定调节
冗余驱动并联机构
动力学模型
riderless bicycle
traverse stability adjustment
redundantly actuated parallel mechahism
dynamics model
