仿蝗虫跳跃机器人弹跳腿分析与设计  

Design and analysis of the locust-inspired jumping robot leg

作　　者：陈科位[1] 陈殿生[1] 张自强[1] 沈奇[1] 凌潇[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《中国科技论文》2015年第10期1127-1130,1135,共5页China Sciencepaper

基　　金：高等学校博士学科点专项科研基金资助项目(20121102110021)

摘　　要：为提高小型跳跃机器人的负重能力,设计了一款利用人工肌肉作为动力源的仿蝗虫腿跳跃机器人。观测了蝗虫后腿结构,并利用高速摄像机记录了跳跃过程中后腿关节变化情况。据此模仿蝗虫后腿结构,设计了仿蝗虫跳跃机器人弹跳腿,利用人工肌肉收缩拉动三连杆快速摆动实现起跳。建立了弹跳机构的动力学模型,分析得出影响其弹跳性能的因素。仿真结果表明,该弹跳机构在无额外负重时,跳跃高度可达578mm,在负重1kg情况下,仍能实现约199mm的跳跃高度,且起跳稳定。证明了该机构能实现类似于蝗虫的跳跃,为仿蝗虫跳跃机器人的设计提供了借鉴与参考。To improve the load capacity of small jumping robots, a locust-inspired jumping robot was designed, using the artificial muscles as the power source. The structure of the locust＇s hind leg was observed and the variations of the legs＇ joints during the jumping trajectory had been recorded with a high speed camera. According to the structure of locust＇s hindleg, the robot＇s jump- ing leg had been designed. The designed jumping leg realized the jumping motion by the rapid swing of three connecting rods, which were driven by the contraction of artificial muscles. Then, the jumping dynamic model was established and analyzed, and the impact factors of the jumping performance were also investigated. The simulation results indicate that the jumping robot could reach the height of 578 mm without any additional loads and with a stable taking off. Besides, it can also reach the height of 199 mm with a additional load of 1 kg. The simulation has proved that the structure can jump like the locusts, providing a foundation for the design of locust-inspired jumping robots.

关 键 词：仿蝗虫机器人 弹跳后腿 人工肌肉 模拟仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]