可折叠轮式弹跳机器人FoldJumper的运动性能研究  

Locomotion Performance Analysis of a Foldable Wheeled Jumping Robot: FoldJumper

作　　者：张军[1] 宋光明[1] 李臻[1] 张颖[1] 乔贵方[1] 宋爱国[1] 

机构地区：[1]东南大学仪器科学与工程学院,江苏南京210096

出　　处：《机器人》2014年第2期250-256,共7页Robot

基　　金：教育部新世纪优秀人才支持计划资助项目(NCET-10-0330);江苏省自然科学基金资助项目(BK2011254);东南大学优秀博士学位论文基金项目(YBJJ-1221)

摘　　要：可折叠轮式弹跳机器人FoldJumper采用滚动和弹跳两种运动方式,分别用于通过平坦路面以及越过障碍物.该机器人设计有2条可折叠的腿,其末端安装1根拉伸弹簧.弹跳模式下,电机-齿轮-凸轮系统驱动两条腿展开,弹簧拉开存储弹性势能;弹簧释放后,两腿迅速折叠,弹簧弹性势能转化为机器人动能,实现弹跳运动;轮式模式下,两腿处于伸展状态,通过安装于足端的轮子实现前行.进行了运动学和动力学建模,通过数值仿真分析了机器人的运动性能.并制作了机器人实验样机,质量约215g,折叠后长度小于7cm.实验结果表明,FoldJumper可以实现高度约为20cm、水平距离约为10cm的弹跳运动和速度为6.5cm/s的轮式运动.Fold Jumper is a foldable wheeled jumping robot. It has two locomotion manners, i.e. rolling and jumping. The former is for rolling on fiat surfaces, and the latter is for jumping over obstacles. This robot has a tension spring mounted on each end point of the two foldable legs. In jumping manner, a motor-gear-cam system drives the two legs to extend and the spring stretches to store energy. After releasing of the spring, the two legs fold quickly and the elastic potential energy of the spring is converted into the kinetic energy of the robot to realize jumping locomotion. In rolling manner, the robot moves with two wheels mounted on the end of each leg while the two legs are unfolded. Kinematic and dynamic models of the robot are presented, and the locomotion performances are analyzed by numerical simulations. A prototype of the robot is made, which is about 215 g in weight and less than 7 cm in length （legs folded）. Experimental results show that FoldJumper can jump about 20 cm high and 10 cm far, while can roll at a speed of 6.5 cm/s.

关 键 词：弹跳机器人 轮式机器人 运动学 动力学 运动性能 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]