星面探测仿生间歇式跳跃机器人设计及实现

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柏龙, 葛文杰, 陈晓红, 寇鑫. 星面探测仿生间歇式跳跃机器人设计及实现[J]. 机器人, 2012, 34(1): 32-37,43.. BAI Long, GE Wenjie, CHEN Xiaohong, KOU Xin. Design and Implementation of a Bio-inspired Intermittent Hopping Robot for Planetary Surface Exploration. ROBOT, 2012, 34(1): 32-37,43..

摘要设计了一种面向行星表面探测的小型间歇式仿生跳跃机器人．利用机构学中变胞思想及齿轮-连杆闭链机构的力转换特性，提出了一种杆长可控的非对称齿轮-六杆仿袋鼠跳跃机构，对其间歇式跳跃过程进行了分析，并针对跳跃能力和起跳躯干姿态平稳性进行了机构构型与尺寸优化设计．基于优化设计结果，进行了跳跃机器人运动仿真分析和样机试验．结果表明，该仿生跳跃机器人具有非线性递增的弹跳动力、平稳的起跳姿态以及较高的能量利用效率，可通过太阳能供电、单一微小电机驱动实现间歇式跳跃运动．

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关键词 ：行星探测, 行星机器人, 腿型机器人, 跳跃机器人, 弹跳机器人

Abstract：A small and bio-inspired intermittent hopping robot is designed for planetary surface exploration.Based on the fundamentals of metamorphic mechanisms and the force-transforming characteristics of geared linkages containing closed kinematic chains,a kangaroo-inspired hopping mechanism of the robot with controllable link-length and asymmetric geared six-bar linkage is proposed.The intermittent hopping process of the mechanism is analyzed,and the configuration and dimension parameters of the robot are optimally designed for improving the hopping capabilities and the stability of the robot's trunk in take-off phase.Based on the results of optimal design,the dynamic simulation analysis and prototype experiment are implemented.The results show that the bio-inspired hopping robot has such capabilities as nonlinearly increasing driving force,stable jumping posture and high mechanical energy utilization efficiency,and can realize intermittent jumping by using solar energy power and a single micro-motor.

Key words： planetary exploration planetary rover legged robot hopping robot jumping robot

收稿日期: 2011-09-15 录用日期: 2011-12-08

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（50975230）

通讯作者: 柏龙 E-mail: bailong@mail.nwpu.edu.cn

作者简介: 柏龙（1982- ），男，博士生．研究领域：机构学，仿生机器人及其控制．
葛文杰（1956- ），男，博士，教授，博士生导师．研究领域：机械原理与机构学，仿生机器人学，机械动力学及计算机辅助设计．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2012/V34/I1/32

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