关键词: 步态分析, 仿袋鼠机器人, 跳跃机构, 正运动学

Abstract: A mechanism model and a kinematics research method for bionic kangaroo hopping robot are presented. Based on studying kangaroo’s motion structure and kinescope, a single leg hopping mechanism consisted of four-links for bionic kangaroo hopping robot is presented. The robot kinematics equations during stance and flight phases are established and its direct kinematics is researched through D-H method. The expression about the hopped position and pose of robot’s phases and the center motion path of the robot body’s mass are given. The different coefficient motion relation between the robot body’s mass center and joints, and the velocity analysis method of the body’s mass center are found by using Jacobian matrix. The robot’s kinematics is calculated by using Matlab and the results are discussed. The mechanism for kangaroo’s further hopping extent and lower energy consuming are explained. The analysis results coincide with the observation from the kinescope and the study on biologic motion of kangaroo. The research shows the feasibility of this bionic hopping model and validity of the research method.

Key words: Bionic kangaroo robot, Gait analysis, Hopping mechanism Direct kinematics