柔性腿无缘轮被动动态行走器建模与分析

打开文本图片集

中图分类号：TP242.6 文献标志码：A 文章编号：1000-4939（2025）06-1410-08

Abstract：The modeling of the passive dynamic walker of flexible legged rimless wheel is studied，and the influence of damping coeficient on system dynamics is analyzed.According to the geometric characteristics of the walker，the independent generalized coordinates are selected to describe the position of the system， and the second kind of Lagrange equation is used to establish the dynamic model of the passive dynamic walker of flexible legged rimless wheel.By analyzing the structure and physical properties of the flexible leg，it is concluded that the impact occurs in the tangential direction of the telescopic leg and the impact force is not transmited between the leg and the ground in the radial direction during the impact stage，and a state jump model under the assumption of partial impact is proposed.The numerical simulation of passive dynamic walking offlexible legged rimless wheels using different damping parameters verifies the effctiveness of the proposed method. When a larger damping coefficient is selected，the double-limb support period of periodic walking accounts for 77.6% of the whole walking cycle，while the single-limb support period accounts for 22.4% of the whole walking cycle. The periodic walking can be achieved when the slope angle is in the range of O.1-O.7 rad.The slope angle of the flexible legged rimless wheel that can passively and dynamically walk on decreases as the damping coefficient decreases.

Key words：passive dynamic walking; impact model; limit cycle; flexible legged rimless wheel

彼动动态仃走利用系统的非线性动刀字，仅以重力势能为能量输人源，机器人即可沿斜坡行走[1]。（剩余10130字）