具有主-被动变刚度柔性关节的足式机器人单腿被动弹跳特性研究  

Study on the single leg’s passive bouncing characteristics of legged robots with the flexible joints featured by active and passive variable stiffness

作　　者：董会英[1] 万媛 闫昆[1] 张小俊[3] DONG Hui-ying;WAN Yuan;YAN Kun;ZHANG Xiao-jun(School of Electromechanical Engineering,Tianjin Bohai Vocational Technical College,Tianjin 300402;School of Materials,Hebei University of Technology,Tianjin 300132;School of Mechanical Engineering,Hebei University of Technology,Tianjin 300132)

机构地区：[1]天津渤海职业技术学院机电工程学院,天津300402 [2]河北工业大学材料学院,天津300132 [3]河北工业大学机械工程学院,天津300132

出　　处：《机械设计》2021年第3期58-65,共8页Journal of Machine Design

摘　　要：通过对生物运动机理的深入研究分析,基于仿生学设计了一款具有主-被动变刚度柔性回转关节的单腿机器人,以追求更好的稳定性、更快的运动速度及更高的能量利用率为目标,基于综合应用动力学、碰撞理论和机械振动建立了机器人腾空相和着地相,以及落地碰撞和起跳冲击的动态模型,针对柔性回转关节的主-被动变刚度对纵向弹跳频率、落地碰撞和起跳冲击的影响规律进行深入系统的研究,并进行了相应的仿真验证。验证了被动变刚度有效地降低着地相支撑腿的振动频率,增加刚度,降低支撑期下肢受力时的机械震颤。柔性回转关节通过主动变刚度增大刚度能够缩短触地时间,提高弹跳的频率,且可以适应不同的地面。主-被动变刚度柔性回转关节对单腿的弹跳运动,提高了跳跃的稳定性、适应性,为足式机器人的后续研究提供了实质性的基础。In this article,by means of the in-depth study and analysis of the biological movement mechanism,a single-leg robot with flexible rotary join featured by active and passive variable stiffness is developed,based on the bionics. In order to ensure better stability,faster pace and higher energy efficiency,based on the comprehensive application of dynamic collision theory and mechanical vibration,the dynamic models of flight phase,landing phase,landing collision and take-off impact are set up. The analysis is conducted on the effect of the flexible rotary joint’s active and passive variable stiffness on the laws of vertical jumping frequency,landing collision and take-off impact,and the related simulation is carried out. It is proved that passive stiffness effectively reduces the support leg’s vibration frequency;as stiffness grows,mechanical tremor of the lower extremity decreases in the support period. The flexible rotary joint shortens the ground-contact time by the ever-growing active variable stiffness,and increases the jumping frequency,and it is adapted to different grounds. The single leg’s passive bouncing with the flexible joints featured by active and passive variable stiffness ensures a higher standard of jumping stability and adaptability. It lays a solid foundation for the follow-up research on robots.

关 键 词：单腿结构 主动变刚度 被动变刚度 跳跃频率 机械震颤 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]