仿蝗虫跳跃机器人的后腿跳跃机械结构设计  

Research on the Driving Characteristics of the Take-off Procedure and Modelling of Locust-like Hopping Robot

作　　者：徐成宇[1] 朱人杰[1] 张宝庆[1] 曹晓捷 张连青 袁慧静 熊梦强 

机构地区：[1]长春理工大学机电工程学院,长春130022

出　　处：《长春理工大学学报（自然科学版）》2016年第4期67-72,共6页Journal of Changchun University of Science and Technology(Natural Science Edition)

基　　金：吉林省科技发展计划资助项目(KYC-JC-XM-2014-025);吉林省大学生创新创业训练计划项目(2014S032)

摘　　要：依据蝗虫身体结构及其运动特点,采用齿轮、凸轮传动,弹簧储能等机构部件,构建仿蝗虫跳跃机器人三维模型。用摆动从动件凸轮的柔性膝关节模拟半月板的能力释放,建立了以基圆半径最小作为优化目标,按压力角优化的数学模型,确定了仿蝗虫机器人后腿跳跃机构尺寸。仿真结果表明:通过MATLAB绘制凸轮的理论与实际廓线,使体积在优化后降低了22%,通过ADAMS的接触应力分析,确定了凸轮副最大承载力不应低于15KN。此设计研究确定了仿蝗虫机器人的后腿跳跃机械结构尺寸,减小蓄力凸轮体积,为其下一步系统结构优化设计奠定基础。According to the body structure and movement characteristics of locust, adopting gears, cam transmissions and institutions such as the spring energy storage components, a 3D prototype of locust-like hopping robot is presented. In order to simulating the meniscus to release the power by using oscillating follower cam flexible knee joint, a mathematical model for optimizing pressure angle is established to minimize the radius of base circle. Finally the jumping mechanism size of locust-like robot＇s hind legs is determined. The simulation results shows that： drawing the theoretic contour line and actual contour line through MATLAB reduces the volume of cam by 22%, the cam＇s maximum bearing capacity no less than 15 KN is determined by the ADAMS analysis of the contact stress. This design research has identified the jumping mechanism size of locust-like robot＇s hind legs, decreased the volume of collected-power cam, and provided basis for system construction optimal design in next step.

关 键 词：仿蝗虫机器人 凸轮廓线优化 柔性膝关节 ADAMS MATLAB 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]