摘要
为研究复杂地形下弹跳机器人跳跃轨迹的可控性问题,设计一种基于齿轮—六杆变胞机构的间歇式弹跳机器人。通过改变齿轮—六杆变胞机构的拓扑结构,机器人具有储能、能量锁定与释放、改变储能大小以及调整姿态角的功能,起跳过程中弹跳力具有仿生特性。根据机器人的结构特征设计翻转机构,使其倒地后自行翻转复位。在理论建模基础上,对机器人的跳跃运动进行仿真以研究储能改变和姿态角调整对跳跃轨迹的影响。研制间歇式弹跳机器人原理样机并进行跳跃运动试验,仿真和试验结果较吻合。结果表明,该间歇式弹跳机器人的机构设计具有可行性,跳远度和跳高度具有可控性:跳远度的控制可通过改变储能大小实现;储能相同时,跳高度的控制可通过调整姿态角实现。为需要轨迹规划的间歇式弹跳机器人的设计提供了一种方案。
In order to investigate the controllability for trajectory of hopping robot applied in complex terrain, an intermittent hopping robot which adopts six-bar geared metamorphic mechanism is designed. Through altering the topology structure of the metamorphic mechanism, the designed robot shows ability to store energy, lock and release energy, change the amplitude of stored energy and adjust attitude angle. In addition, the ground reaction force that acts on the foot of the robot has bionic character. According to the structure features of the robot, a righting mechanism that makes the robot roll and right itself in the case of falling down is designed. The simulation tests based on theoretical model analyses are conducted so as to invest the effect of changing the amplitude of stored energy and adjusting the attitude angle on hopping trajectory. A prototype is developed, and the simulation tests are verified by hopping motion experiments. Results indicate that it is of feasibility for mechanism design and controllability for horizontal and vertical jump distance. The controllability for horizontal jump distance is achieved by altering the amplitude of stored energy; In the case of the same stored energy, the controllability for vertical jump distance is achieved by adjusting the attitude angle. The investigation gives an alternative scheme for designing intermittent hopping robot that needs motion planning.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2012年第13期19-26,共8页
Journal of Mechanical Engineering
基金
国家高技术研究发展计划(863计划
2007AA04Z207)
国家自然科学基金(50975230)资助项目
关键词
间歇式弹跳机器人
储能改变
姿态角调整
翻转复位
机构设计
Intermittent hopping robot Stored energy change Attitude angle adjustment Roiling and righting Mechanism design
