星面探测仿生弹跳机器人设计、仿真及实验

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张铭, 葛文杰, 柏龙, 陈晓红. 星面探测仿生弹跳机器人设计、仿真及实验[J]. 机器人, 2009, 31(6): 481-486.. ZHANG Ming, GE Wenjie, BAI Long, CHEN Xiaohong. Design,Simulation and Experiment of a Bionic Hopper for Planet Exploration. ROBOT, 2009, 31(6): 481-486..

摘要基于袋鼠的跳跃运动机理和齿轮—五杆组合机构，设计了一种用于星面探测的小型间歇式弹跳机器人．提出了仿袋鼠结构、运动形态及产生非线性弹跳动力的闭链机构的弹跳模型．采用D-H法建立了机器人运动方程，并对其跳跃运动步态、仿生运动特性和弹跳效率进行了分析，给出了该机器人设计的整体结构．运用ADAMS软件对机器人进行动力学建模与全过程运动仿真，验证了该闭链仿生弹跳机构及其运动的有效性，较大幅度提高了弹跳机构对能量的利用率，其效率可达70%，避免了弹跳机器人提前起跳．最后设计制作了弹跳机器人原理样机，并进行跳跃试验．试验结果表明：样机试验与仿真结果基本是一致的；1.4kg的弹跳机器人跳远度为813mm，跳高度为471mm，从而解决了利用微小电机驱动机器人实现弹跳运动的问题．

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关键词 ：弹跳机器人, 齿轮五杆机构, 仿生, 闭链机构

Abstract：According to the kangaroo's hopping principle and its characteristics and five-bar geared mechanism,a kind of micro-hopping robot for planetary exploration is designed which can jump intermittently. This paper proposes the kangaroo's structure,moving morphology and the hopping model with closed-chain mechanism which provides nonlinear driving force for the robot. By using the D-H theory,the robot motion equations are set up,and the hopping tread,bionic motion feature and hopping efficiency are analyzed. Then,the whole structure of the robot design is given. In order to prove the validity of this closed-chain bionic hopping mechanism and its motion,the robot dynamics model is established and the whole motion period is simulated with ADAMS. The energy efficiency of hopping mechanism is improved(it can be up to 70%) ,and the possibility of taking off in advance is eliminated. Finally,a prototype of hopping robot is developed and the hopping experiment are made. The experiment result shows that the simulation and the real jumping are almost identical. This robot,with 1.4 kg weight,can get to 813 mm at length and 471 mm at height. So the hopping problem of the robot driven by a micro-motor is solved.

Key words： hopping robot five-bar geared mechanism bionics closed-chain mechanism

收稿日期: 2008-11-14

TP24

基金资助:国家863计划资助项目（2007AA04Z207）；国家自然科学基金资助项目（50375120）；西北工业大学研究生创业种子基金资助项目（Z200726）

作者简介: 张铭（1984- ），男，硕士生．研究领域：仿生机器人及其控制技术．
葛文杰（1956– ），男，教授，博士生导师．研究领域：机构学，仿生机器人与机械动力学等．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2009/V31/I6/481

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