蝗虫起跳运动分析及仿生机构研究  

Bio-jumping mechanism inspired from locust take-off jumping

作　　者：倪虹[1,2] 甄永乾[1] 汪延成[1] 梅德庆[1] 陈子辰[1] 

机构地区：[1]浙江大学流体动力与机电系统国家重点实验室,杭州310027 [2]杭州师范大学钱江学院信息与机电工程分院,杭州310036

出　　处：《振动与冲击》2014年第2期7-13,共7页Journal of Vibration and Shock

基　　金：国家自然科学基金项目(50975251)

摘　　要：提出、研制仿蝗虫跳跃机构。通过高速摄像实验研究蝗虫起跳阶段运动学及力学特性结果表明,起跳阶段,蝗虫跳跃足受地面作用力相对时间呈非线性平缓变化,该力学特性有利于避免跳跃足受瞬时冲击力过大。在此基础上提出仿蝗虫跳跃机构设计方案,用六连杆机构作为跳跃腿部构件,用螺旋弹簧储能,将弹簧拉伸产生的线性力转化为跳跃足非线性驱动力,有效仿生蝗虫起跳阶段的力学特性。用研制的仿蝗虫跳跃机构原理样机进行实验。结果表明,该样机可有效仿生蝗虫起跳阶段的力学特性,与蝗虫在起跳阶段运动相似,其跳跃高度相当于自身高度的129%。研究成果可为跳跃机器人的研制提供新思路。Proposed and manufactured a bio-jumping mechanism.The kinematics and mechanical characteristics of the locusts＇take-off phase were investigated with the help of high-speed camera.The results show that the locust saltatorial leg has a non-linear force output characteristic in take-off phase,which can effectively avoid the impact of instantaneous force changes.Then,a bio-jumping mechanism inspired from locust take-off jumping was designed.By adopting a six links mechanism as the saltatorial leg and a spiral spring as a storage mechanism,the linear force generated by the spring was converted into a nonlinear leg driving force. A prototype of bio-jumping mechanism was developed and the experiments for the take-off phase were carried out. The experimental results show that the designed bio-jumping mechanism has the similar movement characteristics as the locust jumping in take-off phase,and the jumping height that the mechanism can reach is 129% the height of the mechanism structure.The results provide a new approach for the design of jumping robots.

关 键 词：跳跃机构 仿生 蝗虫 非线性 

分 类 号：TH113[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]