仿蝗虫跳跃机构设计与分析  

Design and analysis of locust-like jumping mechanism

作　　者：尹军茂[1] 陈殿生[1] 沈奇[1] 

机构地区：[1]北京航空航天大学机器人研究所,北京100191

出　　处：《北京航空航天大学学报》2013年第10期1348-1353,1359,共7页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金资助项目(51075014);教育部博士点基金资助项目(20121102110021);北京航空航天大学博士生创新基金资助项目(YWF-12-RBYJ-017)

摘　　要：以蝗虫跳跃特性为依据,设计出一种仿蝗虫弹跳机构并对其弹跳机理进行研究.首先从生物学和机构运动学相结合的角度,对蝗虫的跳跃过程进行观察和分析,研究蝗虫后腿的跳跃机理,发现跳跃后腿膝关节在起跳过程中的重要作用.利用虚拟样机建立蝗虫模型,对蝗虫的跳跃过程进行仿真.根据蝗虫跳跃机理和后腿结构特点,基于提高能量利用率和弹跳效率原则,设计出一种单自由度的仿蝗虫跳跃机构模型,对该机构在起跳阶段进行运动性能分析,通过与蝗虫跳跃仿真结果进行比较,证明该跳跃机构具有与蝗虫弹跳后腿近似的力学特性.最后通过机构的样机实验验证了分析结果,为进一步研究仿生高效的柔性跳跃机构奠定基础.A jumping mechanism based on jump characteristics of locust was presented.By biological observation and kinematic analysis of locust jump,the key effect of locust＇s hind leg knee on the jump performance was discovered,and a simplified dynamic model of locust was built to simulate locust take-off.According to the simplified locust model and physiological structure of the locust＇s hind leg,a 1 DOF locust-based jumping mechanism was put forward.The kinematical analysis of the mechanism during take-off was implemented and the ground reaction force on hind leg of locust was compared with that of the locust jump simulation.The results show that the mechanism has the similar mechanical properties as locust.Finally,the prototype experiment verifies the analysis results.It provides a valued basis for further research of locust-like efficient flexible jumping mechanism.

关 键 词：跳跃机器人 蝗虫跳跃机理 弹跳机构 机构分析 机构设计 

分 类 号：TH113.2[机械工程—机械设计及理论]