Method for analyzing motion behavior and stability of planar single-wheel rimless wheel on spatial slope

Abstract

The invention discloses a method for analyzing the motion behavior and stability of a planar single-wheel rimless wheel on a spatial slope. The method comprises the following steps of: establishing a coordinate system and constructing a planar single-wheel rimless wheel model; calculating a system kinetic equation of the model in a periodic rotation stage and a periodic collision stage in the spatial slope; based on a stride function and Newton-Raphson iteration, obtaining a stable period solution of the system, and carrying out stability analysis on the system from an energy angle; and establishing a motion relation of the model in the spatial slope and a planar slope. According to the method, the planar single-wheel rimless wheel model is a wheel mechanism in which a wheel frame of a wheel is removed and internal spokes are left, and the movement of the rimless wheel on the spatial slope is continuous rotation-collision circulating movement of a wheel leg and the slope; the stable period solution of the system is obtained through calculation, and the motion behavior relation of the system in the spatial slope and the planar slope is studied. The method has an important theoretical value for applying the rimless wheel mechanism to design and motion analysis of a foot type bionic robot.

Description

technical field [0001] The invention relates to a method for analyzing the motion behavior and stability of a plane single-wheel borderless wheel, in particular to an analysis method for the motion behavior and stability of a plane single-wheel borderless wheel on a three-dimensional space slope. Background technique [0002] Passive walking theory is the basic theory for the research and development of bionic legged robots, and it has important guiding significance for improving the internal stability and energy efficiency of bionic legged robots. The rimless wheel mechanism is a special wheel mechanism similar to a carriage wheel in which the outer rim is removed and only the inner spokes are left. As the basic principle model of biped passive walking, the infinite wheel mechanism can realize the intermittent collision contact between the end of its own spoke and the slope of the terrain without relying on the internal power source, so as to imitate the rhythmic contact of...

AI Technical Summary

Problems solved by technology

[0006] Although the motion regulation of the boundless wheel model in the above method depends on the dynamic characteristics of the boundless wheel mechanism, the dynamic model and calculation method of the boundless wheel mechanism used in it are all for specific situations, not for the general plane single-wheel boundless wheel. Carry out systematic analysis of the dynamic model and motion behavior under the condition of a space slope. For example, the dynamic modeling and motion behavior of the infinite wheel involved in the application number CN202010890342.0 and application number CN202010890340.1 are limited to two-dimensional space

However, other existing published theories and methods have not completely solved the spatial motion behavior characteristics of the general plane single-wheel infinite wheel model on the space inclined plane.

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