摘要
提出了具有可变相位差的柔性腿组合无缘轮模型,通过调节系统初值,对模型被动行走步态进行了分析.通过观察模型在不同相位差时的运动步态,分析了改变相位差对模型行走步态的影响.首先,采用第二类Lagrange方法建立了具有可变相位差的柔性腿组合无缘轮动力学模型,通过调整初值,使模型运动步态能够在不同相位差条件下逐渐形成收敛的闭环极限环;其次,通过仿真实验对模型的典型步态进行了对比分析,注意到模型行走步态与初始相位差间存在着密切联系;最后,通过改变相位差,借助数值模拟和仿真实验验证了行走步态与初始相位差间的关系.结果表明:通过改变初始时刻前、后无缘轮支撑腿间的相位差,可以改变模型在斜坡上的周期运动步态,当相位差接近半髋角时,模型沿斜面运动的平均速率降低,但在垂直斜面方向上的颠簸程度较小,受到斜面法线方向的最大反向支撑力也较小.
A combined flexible-legged rimless wheels model with variable phase difference was introduced for the analysis of passive walking gait by adjusting the initial value of the system.The model’s motions under various phase differences were simulated,and the effects of phase differences on the walking gait were investigated.Firstly,the 2nd-type Lagrangian method was used to establish a dynamic model for combined flexible legged rimless wheels with variable phase differences,and the initial value was adjusted to gradually form the convergent closed-loop limit cycle for the model motion gait under various phase differences.Secondly,the typical model gaits were simulated and comparatively analyzed to expose the close relationship between the model walking gait and the initial phase difference,which were verified through numerical experiments.The results show that,the variation of the phase differences between the rimless wheel support legs before and after the initial moments change the model periodical motion gait on the inclined plane.With a phase difference close to the half hip angle,the model average moving speed along the inclined plane will decrease,while the bump motion perpendicular to the inclined plane will be relatively small,and the maximum reverse support force in the normal direction of the inclined plane will also be relatively small.
作者
王龙宇
张奇志
李珊珊
WANG Longyu;ZHANG Qizhi;LI Shanshan(School of Automation,Beijing Information Science&Technology University,Beijing 100192,P.R.China;School of Mathematics and Statistics,Ningxia University,Yinchuan 750021,P.R.China)
出处
《应用数学和力学》
北大核心
2025年第9期1158-1175,共18页
Applied Mathematics and Mechanics
基金
国家自然科学基金(12172059)。
关键词
柔性腿组合无缘轮
被动步行
相位差调速
不同步
极限环
combined flexible legged rimless wheels
passive walking
phase difference speed regulation
non-synchronization
limit cycle
