刘刚峰, 赵杰. 面向侦察机器人的气动弹跳机构建模与分析[J]. 机器人, 2010, 32(4): 510-515.
引用本文: 刘刚峰, 赵杰. 面向侦察机器人的气动弹跳机构建模与分析[J]. 机器人, 2010, 32(4): 510-515.
LIU Gangfeng, ZHAO Jie. Modeling and Analysis of the Hopping Pneumatic Mechanism for a Scout Robot[J]. ROBOT, 2010, 32(4): 510-515.
Citation: LIU Gangfeng, ZHAO Jie. Modeling and Analysis of the Hopping Pneumatic Mechanism for a Scout Robot[J]. ROBOT, 2010, 32(4): 510-515.

面向侦察机器人的气动弹跳机构建模与分析

Modeling and Analysis of the Hopping Pneumatic Mechanism for a Scout Robot

  • 摘要: 为提高侦察机器人的运动和生存能力,本文将弹跳运动与轮式运动相结合,建立了一种新型侦察机器人.本文以一种新颖的气动弹跳机构实现了机器人的弹跳运动,介绍了气动弹跳机构的特性,推导了气动弹跳过程中各耦合参量之间的关系,分析了弹跳高度的影响因素,并进一步提出调整换向气阀开关时间从而控制机器人弹跳高度的控制方案.最后,对所设计的气动弹跳机器人进行了越障分析和实验验证.结果表明了该侦察机器人气动弹跳机构的合理性和实用性.

     

    Abstract: To enhance the motion and survival abilities of a scout robot,the hopping movement and the wheeling movement are combined to develop a new scout robot.A new hopping pneumatic mechanism is employed to realize robotic jumping motion.The characteristics of the hopping pneumatic mechanism are introduced,and the relationship among several coupled parameters in pneumatic hopping is deduced.The influencing factors of the jumping height are analyzed,and a new method is proposed to control the jumping height by adjusting the opening time of the directional control valve.Finally,analysis on obstacle-overcoming capability and the experimental verification are carried out on the designed pneumatic hopping robot.The results show the reasonability and applicability of the new pneumatic hopping mechanism of the scout robot.

     

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