吴立成, 连志鹏, 袁海斌, 王淑慧, 杨国胜. 水上行走机器人支撑腿的设计与布局[J]. 机器人, 2011, 33(5): 513-518.
引用本文: 吴立成, 连志鹏, 袁海斌, 王淑慧, 杨国胜. 水上行走机器人支撑腿的设计与布局[J]. 机器人, 2011, 33(5): 513-518.
WU Licheng, LIAN Zhipeng, YUAN Haibin, WANG Shuhui, YANG Guosheng. Design and Arrangement of Supporting Legs for Water Strider Robot[J]. ROBOT, 2011, 33(5): 513-518.
Citation: WU Licheng, LIAN Zhipeng, YUAN Haibin, WANG Shuhui, YANG Guosheng. Design and Arrangement of Supporting Legs for Water Strider Robot[J]. ROBOT, 2011, 33(5): 513-518.

水上行走机器人支撑腿的设计与布局

Design and Arrangement of Supporting Legs for Water Strider Robot

  • 摘要: 研究了水上行走机器人支撑腿形状设计与布局问题.首先将支撑腿视为欧拉-伯努利弹性曲梁,通过对其柔性变形的几何分析与应力应变分析,提出了一种支撑腿形状优化设计方法,方法的目标是获得最大支撑力.对方法的正确性和有效性进行了仿真和实验验证.其次通过分析支撑腿间距对支撑力的影响,以及支撑腿布局与机器人抗翻转能力的关系,提出支撑腿布局的设计方法.针对采用10条支撑腿的Water DancerⅡ-a机器人,给出了一种满足要求的布局方案.

     

    Abstract: The problems of shape design and position arrangement for water strider robot's supporting legs are discussed. Firstly,the supporting leg is regarded as Euler-Bernoulli elastic curved beam and a method for designing its optimal shape is proposed by analyzing its geometric flexible deformation and stress-strain.The objective of the optimal method is to attain the maximum supporting force.The effectiveness and validity are verified through simulations and an experiment. Secondly,a method for arranging the supporting legs on the robot body is proposed by analyzing the influence of supporting legs' spacing on supporting force,and study the relation between supporting legs' position arrangement and robot's rolling-resistant capability.A layout scheme for the Water DancerⅡ-a with ten supporting legs is designed,which satisfies the requirements.

     

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