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Optimization design for a jumping leg robot based on generalized inertia ellipsoid

Published online by Cambridge University Press:  27 February 2012

Jianjun Yao ,
Qi Yang ,
Shuang Gao  and
Shenghai Hu
Jianjun Yao*
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Qi Yang
Affiliation:
Institute of Structural Mechanics, CAEP, Mianyang 621900, China
Shuang Gao
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Shenghai Hu
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
*
*Corresponding author. E-mail: [email protected]
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Summary

The isotropy of the generalized inertia ellipsoid is an evaluation index that can measure dynamic performance of a robot. This has significance in motion planning and design of a jumping robot. The generalized inertia of a jumping robot is analyzed. The generalized inertia tensor and the generalized inertia ellipsoid (GIE) are derived from the kinetic energy of the robot mechanism. From the viewpoint of geometrical shape change of the GIE, nonlinear characteristics of a jumping robot are analyzed. With the goal of minimizing nonlinear effects during its movement, the mechanism parameters of a jumping robot are optimized by adopting isotropy of the generalized inertia ellipsoid as its objective function. Example results demonstrate the efficiency and validity of the proposed optimization method.

Keywords

Jumping robotGeneralized inertia tensorGeneralized inertia ellipsoidNonlinear characteristicsIsotropic conditionOptimization design
Type
Articles
Information
Robotica , Volume 30 , Issue 7 , December 2012 , pp. 1213 - 1219
Copyright
Copyright © Cambridge University Press 2012

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