仿蝗虫机器人运动形态的三维动态仿真  

3D Dynamic Simulation of Motion Morphology of Locust-like Robot

作　　者：陈勇[1] 陈东辉[1] 佟金[1] 陈秉聪[1] 

机构地区：[1]吉林大学地面机械仿生技术教育部重点实验室

出　　处：《农业机械学报》2007年第9期151-154,共4页Transactions of the Chinese Society for Agricultural Machinery

基　　金：吉林省科技发展计划资助项目(项目编号:20040518);吉林大学研究生创新基金资助项目

摘　　要：研究了黄胫小车蝗的形态结构,采用高速摄影技术对黄胫小车蝗的跳跃特征进行了分析,得到了黄胫小车蝗的跳跃特征参数。利用虚拟样机技术,建立了仿蝗虫机器人的虚拟样机模型,通过三维动态仿真,分析了跳跃运动状态下位移、速度、加速度、作用力和力矩的变化,讨论了仿蝗虫机器人的跳跃特性,获得了仿蝗虫机器人虚拟样机模型的最优结构参数。The geometrical configuration of the locust, Oedaleus infernalis, was observed by using the stereomicroscope. The jumping process of the locust was captured by high-speed photography method. The motion morphology of the locust during jumping was analyzed and the jumping parameters were gaimed. The technology of virtual prototype was used to establish the kinematics model of the locust-like robot. Combined with the 3D dynamic simulation, displacement, velocity, acceleration, force and moment of the locust-like robot during jumping were analyzed. The characteristics of the locust-like robot during jumping were discussed. The optimum structural parameters of the virtual prototype of the locust-like robot were obtained, and then the data were provided with the physical prototype in structural design.

关 键 词：仿蝗虫机器人 虚拟样机 运动形态 仿真 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]