仿蝼蛄运动特性的土壤挖掘机构设计  

Design of a Soil-Digging Mechanism Based on the Motion Characteristics of Mole Crickets

作　　者：张峻霞[1] 张凯凯[1] 张琰[1] 朱曰莹[1] ZHANG Jun-xia;ZHANG Kai-kai;ZHANG Yan;ZHU Yue-ying(School of Mechanical Engineering,Tianjin University of Science and Technology,Tianjin 300222,China)

机构地区：[1]天津科技大学机械工程学院,天津300222

出　　处：《机械设计与制造》2020年第8期180-183,187,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金青年基金(51405341,51505332);天津市应用基础与前沿技术研究计划(15JCYBJC19300)。

摘　　要：凭借前足"挖-扩"式掘进方式,蝼蛄可以实现高效、快速的地下掘进。为了更好的利用这一优良特性,使用高速运动采集系统对蝼蛄前足的挖掘运动进行采集,使用Didge与Matlab软件对其进行运动学分析,并构建运动轨迹曲线。根据蝼蛄前足运动特性及运动轨迹,设计了一种基于曲柄滑块机构的仿生挖掘机构。仿真模拟结果表明,该机构的运动轨迹、速度及加速度特性等与蝼蛄相似,可以实现"挖-扩式"运动,证明了机构的可行性。其结果为触土工作机构的仿生设计提供了一种新方案。With a motion pattern of digging-expanding mode,mole crickets can achieve efficient and rapid underground excavation. In order to make better use of this excellent feature,a high-speed motion acquisition system was used to capture the excavation movement of the forelegs of a mole cricket. The captured excavation movement was analyzed using Didge and Matlab software,and the motion trajectory of the foreleg was constructed. According to the motion characteristics and the motion trajectory of the foreleg,a bionic excavation mechanism based on the crank-slider mechanism was designed.Simulation result showed that the motion characteristics of the proposed mechanism,including trajectory,velocity and acceleration characteristics were similar to the mole cricket,and the mechanism can achieve "digging-expanding" movement,which proved the feasibility of the mechanism. The results of this paper can provide a new insight for the bionic design of soilengaging components.

关 键 词：机构设计 仿生 挖掘 运动特性 仿真 

分 类 号：TH16[机械工程—机械制造及自动化]