气动肌肉驱动仿青蛙游动机器人结构设计  

Mechanical design of frog inspired swimming robot powered by pneumatic muscle

作　　者：樊继壮[1] 孔彭城 张伟[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001

出　　处：《哈尔滨商业大学学报（自然科学版）》2016年第5期516-520,525,共6页Journal of Harbin University of Commerce：Natural Sciences Edition

基　　金：国家自然科学基金(51005052);国家重点实验室自主课题(SKLRS201001C)

摘　　要：仿青蛙游动机器人是仿生机器人领域内新的研究点.通过对生物青蛙机理分析,提出了拮抗式关节驱动模式,利用气动人工肌肉作为驱动器,可以很好地模拟生物肌肉的特点.建立了仿青蛙游动机器人的躯干、大腿、小腿和足部的结构模型,采用了层叠式腿部空间配置方式进行了虚拟装配.通过对机器人运动学分析以及Adams仿真验证了结构设计的合理性,为研究和验证仿青蛙游动机器人其他关键问题提供了样机基础.Research on frog Inspired Swimming Robot is a new field of bio- robot research.Through the mechanism analysis of the frog,this paper proposed a antagonistic joint drive mode,with using pneumatic artificial muscles as a drive,it could be a good simulation of biological characteristics of muscle. The structure mode was established including torso,thigh,leg and foot of frog inspired swimming robot,and the robot was assembled virtually using a stacked configuration. The feasibility of the structural design was verified through the robot forward kinematics analysis and the simulation of Adams. Mechanical design of inspired Swimming Robot will be a foundation for other key issues of the robot research.

关 键 词：青蛙 机器人 结构 运动学 ADAMS 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]