单自由度弹跳机构的跳跃稳定性研究  

Study on Jumping Stability of Single Degree of Freedom Spring Mechanism

作　　者：张强强 许勇 赵传森 董飞 王艳 ZHANG Qiangqiang;XU Yong;ZHAO Chuansen;DONG Fei;WANG Yan(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620

出　　处：《轻工机械》2021年第1期29-35,共7页Light Industry Machinery

摘　　要：为探究弹跳机器人的起跳稳定性,课题组从机构设计的角度出发,根据蝗虫的腿部结构,提出了一种单自由度6杆弹跳腿机构。以StephensonⅡ型6杆机构为弹跳腿,首先利用闭环矢量方程法进行运动学分析,确定弹跳腿机构的运动学稳定性满足弹跳机器人的起跳需求;然后,对6杆弹跳腿机构的起跳阶段进行分析,确定弹跳机构在起跳时的起跳角度,并通过多约束条件的数学方法确定弹跳机构的杆件尺寸;而后,对弹跳机构的动态稳定性分析,确定机构的质心位置和总惯性矩,确保起跳过程不发生翻转,总惯性矩的变化越小,弹跳腿机构动态稳定性越好;最后,进行实例验证,用MATLAB中Fmincon函数对实例进行求解。结果表明此单自由度弹跳腿机构设计具有良好的弹跳稳定性。In order to investigate the stability of the hopping robot during the take-off process,a single degree of freedom six bar spring leg mechanism based on the locust’s leg structure was proposed.Taking Stephenson TypeⅡsix bar mechanism as a spring leg,the kinematics analysis was carried out firstly by using the closed-loop vector equation method to determine the kinematic stability of the spring leg mechanism to meet the take-off requirements of the hopping robot.Secondly,the take-off phase of the six bar spring leg mechanism was analyzed to determine the take-off angle of the mechanism during the take-off,and the spring machine was determined by the mathematical method of multi constraint conditions.Then the dynamic stability of the mechanism was analyzed to determine the position of the center of mass and the total moment of inertia of the mechanism to ensure that the take-off process does not overturn.The smaller the change of the total moment of inertia,the better the dynamic stability of the spring leg mechanism.Finally,the example verification was carried out and the fmincon function in MATLAB was used to solve the case,which proved that the design of the single degree of freedom spring leg mechanism has good spring stability.

关 键 词：弹跳机器人 单自由度 StephensonⅡ型6杆机构 闭环矢量方程法 起跳角度 Fmincon函数 

分 类 号：TH112[机械工程—机械设计及理论] TP242.2[自动化与计算机技术—检测技术与自动化装置]