一种跳跃机器腿的设计  

Development of a robot with jumping legs

作　　者：王猛[1] 臧希喆[1] 赵杰[1] 蔡鹤皋[1] 

机构地区：[1]哈尔滨工业大学机器人技术及系统国家重点实验室,哈尔滨150001

出　　处：《哈尔滨工业大学学报》2010年第1期69-73,共5页Journal of Harbin Institute of Technology

基　　金：国家高技术研究发展计划资助项目(2006AA04Z245);长江学者和创新团队发展计划项目(IRT0423)

摘　　要：提出了一种跳跃腿机构.为减轻质量,降低能耗,采用单电机驱动方式,通过分时控制实现机构的跳跃、空中收腿和能量调节动作.在结构设计中采用五杆机构作为腿部执行机构,并增加了脚掌和跗跖关节以保证跳跃和着陆时的稳定性.结合仿真分析了其跳跃过程及各阶段的关键动作,最后对机器腿进行了跳跃实验,实验证明:其具有很好的跳跃能力及较高的跳跃效率,能实现空中收腿动作以及稳定着陆.This paper presents a mechanical jumping leg with the capability of jumping,retracting the leg in the air and adjusting the energy of spring.For the purpose of reducing the weight and the energy consumption,the jumping leg is actuated by a single motor.The 5-bar linkage is adopted as the main part of the leg including the foot and the tarsometatarsal joint to enhance the stability during jumping and landing.The key motion of each phase in the whole jump is analyzed by simulation.Experiments are implemented on the jumping leg robot,and the result demonstrates that it has good capability of jumping,shows high jumping efficiency,and can retract the leg in the air for landing steadily.The mechanical leg will be applied to the design of jumping frog robot as hindlimb.

关 键 词：跳跃 机器腿 能量调节 空中收腿 五杆机构 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]