仿袋鼠机器人分布式柔性脚的设计与研究  

Research and design on foot of hopping kangaroo robot based on compliant mechanisms

作　　者：李岩[1] 葛文杰[1] 寇鑫[1] 

机构地区：[1]西北工业大学机电学院,陕西西安710072

出　　处：《机械设计》2013年第2期18-24,共7页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50975230);国家863计划资助项目(2007AA04Z207);国家自然基金资助项目(50375120)

摘　　要：根据袋鼠的生物结构特征,建立了具有柔性脚的仿袋鼠跳跃机器人的刚柔混合模型。利用柔性机构易于实现连续光滑变形及质量轻,易于控制等特性,将其应用于仿生跳跃机器人领域,来实现跳跃机器人在不同跳跃速度下的脚部轮廓变形。文中根据跳跃机器人在不同跳跃速度下的脚部轮廓曲线,以连续体结构拓扑优化为出发点,建立多目标优化函数,采用移动渐近线法,实现脚部的拓扑结构优化。结合实例仿真结果表明:具有柔性变形能力的柔性脚有助于提高机器人在着地过程中的落地稳定性,增大起跳时间和调整起跳角度,并有效地起到缓冲和储能作用。A rigid-flexible model is established to analyze the hopping kangaroo robot with compliant foot based on kazlgaroog biologi- cal architecture. Compliant mechanism is characterized by being easy to control and achieve a continuous and smooth deformation, and light weight etc., which makes it possible to be applied in the biomimetic hopping robot field, to achieve the con＇esponding foot contour at differ- ent velocities. According to the robot foot contour, multi-objective op- timization functions were established on the basis of Structural Topolo-gy Optimization, and utilize MMA （the method of moving asymptotes） to realize the topology optimization of the foot. The simulation results show that the flexible robot foot helps to improve the stability of land- ing, increase the take-off time and adjust the take-off angle, as well as play an effective role in buffering and storage.

关 键 词：跳跃机器人 柔性机构 拓扑优化 稳定性 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]