一种仿蝗虫跳跃机器人的能量转换机制及跳跃稳定性设计  

Design of Energy Conversion Mechanism and Jumping Stability of a Locust-like Jumping Robot

作　　者：王寰 吉爱红[1] 戴振东[1] 李力[1] 贺伟 沈欢 

机构地区：[1]南京航空航天大学仿生结构与材料防护研究所,南京210016

出　　处：《中国机械工程》2018年第4期379-384,共6页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51375232);江苏省自然科学基金资助项目(BK20141410)

摘　　要：通过对蝗虫蹬腿跳跃方式的模拟,研制了一种新型的可连续跳跃的机器人。在研究起跳过程能量转换机制的基础上,设计了扭簧弹跳机构。扭簧在减速电机和机身轨道的共同作用下,完成连续的腿部收缩和起跳过程,同时可以实现稳定着陆以保证多次跳跃。为进一步增强跳跃机器人在不同表面起跳的适应能力,通过建立蝗虫钩爪的抓附模型,分析了蝗虫在不同粗糙度表面起跳中脚垫与钩爪的协同作用,设计了黏附垫与钩爪共同作用的仿生跳跃底座结构。A new type of robots which might achieve continuous jumps was developed by simulating the ways of locust-kick jumps.On the basis of the energy conversion mechanism investigations during jumping processes,the torsion spring bounce mechanisms were designed.The torsion spring completed the continuous leg contractions and take-off processes under the combined actions of geared motor and fuselage tracks,which meant the robots might achieve stable landing to ensure multiple jumps.In order to enhance the ability of jumping robots to jump on different surfaces,the roles of mat and claw used by locusts were researched in different surfaces by establishing agrasping model,and the bionic jumping base structure was designed integrated adhesive mat and claws.

关 键 词：跳跃机器人 蝗虫跳跃机理 能量转换 机构设计 钩爪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]