CAJ | 학술논문

基于含摩擦和碰撞效应的非光滑动力学原理设计了一种被动移动机器鸭，该装置无任何驱动器和控制器，通过与斜面间的脱离、滑动、黏滞等接触状态的变换，能够周期性、稳定地走下斜面。机器鸭装置的运动存在着多点摩擦、碰撞问题，难以准确确定足-地的瞬时接触状态。应用非光滑多体系统动力学方法建立机器鸭系统的动力学模型，从三维动力学仿真和原理样机试验两方面详细分析了机器鸭装置的运动过程，得到了相关运动和动力参数的变化曲线。由曲线可知，机器鸭装置运动周期可细分为9个过程，且初始位姿的变化不会改变装置稳定后的运动行为。模拟仿真与试验结果均表明，机器鸭能够实现稳定周期性的被动行走，验证了动力学模型的正确性。
기우함마찰화팽당효응적비광활동역학원리설계료일충피동이동궤기압，해장치무임하구동기화공제기，통과여사면간적탈리、활동、점체등접촉상태적변환，능구주기성、은정지주하사면。궤기압장치적운동존재착다점마찰、팽당문제，난이준학학정족-지적순시접촉상태。응용비광활다체계통동역학방법건립궤기압계통적동역학모형，종삼유동역학방진화원리양궤시험량방면상세분석료궤기압장치적운동과정，득도료상관운동화동력삼수적변화곡선。유곡선가지，궤기압장치운동주기가세분위9개과정，차초시위자적변화불회개변장치은정후적운동행위。모의방진여시험결과균표명，궤기압능구실현은정주기성적피동행주，험증료동역학모형적정학성。
An unpowered wadding duck robot based on the non-smooth dynamics with friction and impact effects is designed. The duck robot can walk stably and periodically along the slope down through the contact state transformation of detaching, sliding and sticking without any external drives and controls. It is very difficult to accurately determine the instantaneous contact state between feet and slope because there are multiple points of friction and collisions in the robot. The dynamic model of the robot system is proposed and its movements are studied by three-dimensional simulation and principle prototype experiment. Simulation and experimental results show that the movement of duck robot in one cycle can be divided into nine processes. The changes of the initial position and posture do not alter the stable movement behavior of the robot. The dynamics characteristics of the robot are investigated and the time history of the dynamic parameters simulations show an obvious cyclical variation, which verifies the robot is able to achieve cyclical, stable passive mobile and the dynamics model is reasonable.