Motion Behavior and Stability Analysis Method of Plane Single Wheel with Boundless Wheel on Inclined Space

Abstract

The invention discloses a motion behavior and stability analysis method of a plane single-wheel boundless wheel on a space inclined plane. The method includes: establishing a coordinate system and constructing a plane single-wheel boundless wheel model; The system dynamics equation in the periodic collision stage; the stable periodic solution of the system is obtained based on the step function and Newton-Raphson iteration, and the stability analysis of the system is performed from the perspective of energy; the motion relationship of the model in the space slope and the plane slope is established. Among them, the planar single-wheel infinite wheel model is a wheel mechanism in which the wheel removes the wheel frame and leaves the internal spokes. The movement of the infinite wheel on the space slope is a cyclical motion of continuous "rotation-collision" between the wheel leg and the slope; the stability of the system is obtained through calculation. Periodic solution and study its motion behavior relation in space inclined plane and plane inclined plane. The method of the invention has important theoretical value for applying the infinite wheel mechanism to the design and motion analysis of the legged 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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