桌面型拳击机器人动力学系统研究  

Study on dynamic system of the desktop boxing robot

作　　者：黄鑫 王国庆[1] 任鹏博 胡延鹏 HUANG X in;WANG Guo-qing;REN Peng-bo;HU Yan-peng(School of Engineering and Mechanics,Chang’an University,Xi’an 710064)

机构地区：[1]长安大学工程机械学院

出　　处：《机械设计》2019年第11期32-36,共5页Journal of Machine Design

基　　金：陕西省工业攻关资助项目（2016GY-003）

摘　　要：针对小空间健身需求,设计了桌面型拳击机器人的机械本体系统,并对系统的动力学特性进行了分析。首先,以减振为主要目标,采用橡肢材质和弹簧减振设计了机器人本体;接着,对沙袋在冲击栽荷下的动力响应做了分析,证明了结构设计的合理性;最后,针对整机柔性体的特征,以沙袋在冲击栽荷下的应力曲线转换为整机的激振力,分析了弹簧减振系统和末端支撑杆在冲击载荷下的动力学响应特性。计算结果表明,在机器人直接承受冲击载荷的情况下,所设计的机器人是可以用于桌面小空间应用的,计算结果也为下一步的控制系统设计提供了基础。In view of the needs of fitness in small space,a mechanical body system is designed for the desktop boxing robot,and its dynamic characteristics are explored.Firstly,the robot body is designed based on rubber materials and spring damping,with shock absorption as the primary objective.Then,the dynamic response of the sand bag with impact load is analyzed,which proves that the structural design rationale.Finally,according to the characteristics of the flexible body of the whole machine,the stress curve of the sand bag with impact load is transformed into the exciting force of the whole machine,and the dynamic response characteristics of the spring damping system and the end-support bar with impact load are analyzed.The results show that the robot can be used in small desktop space when it is directly subjected to impact load,and the results also provide basis for the follow-up design of control system.

关 键 词：桌面型拳击机器人 动力学特性 柔性体 激振力 

分 类 号：TH122[机械工程—机械设计及理论]