Prilog izučavanju performanse antropomorfnih mehanizama preko njihovih dinamičkih karakteristika
A Contribution to the Study of Anthropomorphic Mechanisms through their Dynamic Characteristics
Author
Surla, DušanMentor
Vukobratović, MiomirCommittee members
Stojaković, MirkoĐukić, Đorđe
Mandić, Jovan
Vukobratović, Miomir
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Glavni rezultat istraživanja je analiza uticaja parametara na performanse antropomorfnog hoda. Analiziran je uticaj parametara na ponašanje: kompenzacionih pokreta; maksimalne vrednosti pogonskih momenata i snage u toku punog koraka za sve aktuatore; skoka ubrzanja trupa u frontalnoj i sagitalnoj ravni pri prelasku tačke nula momenta (TOM) ispod jedne pod drugu nogu; ukupne snage svih aktuatora i maksimalne vrednosti vertikalne komponente sila reakcije. Za ovu analizu izdvojeni su sledeći parametri: dužina koraka; period trajanja koraka; Zakon TOM-a i period trajanja dvooslonačke faze.
The main research result is analysis of the parameters’ impact on the anthropomorphic walk performances. The analysis covered parameters’ impact on behavior of: compensating movements; maximal values of the driving moments and power during the full step for all actuators; rise of the body’s acceleration in frontal and sagittal plane during the transition of the zero-moment-point (ZMP) from bellow one foot to bellow another foot; total power of all actuators and maximal value of the vertical component of the reaction force. For this analysis the following parameters are considered: step length; step duration period; ZMP law and the period of the double-support phase duration.