仿跳甲机器人跳跃过程的运动分析及仿真  

Kinematics Analysis and Simulation of Jumping Process of Bionic Jumping Beetle Robot

作　　者：王丹[1] 孙宗晖 刘金国[2] 葛斯琴[3] WANG Dan;SUN Zonghui;UU Jinguo;GE Siqin(College of Mechanical Engineering,Shenyang Jianzhu University,Shenyangl 10168,China;State Key laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institute of Zoology,Chinese Academy of Sciences,Beijing 100101,China)

机构地区：[1]沈阳建筑大学机械工程学院,沈阳110168 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [3]中国科学院动物研究所,北京100101

出　　处：《机械设计与研究》2021年第6期35-39,共5页Machine Design And Research

基　　金：国家自然科学基金资助项目(51775541);辽宁省教育厅面上项目(LJK20571)。

摘　　要：通过观察和分析老鹳草的生物模型和运动机理,设计了仿跳甲机器人的跳跃结构模型。借助D-H法建立跳甲的运动学方程进行分析,得到了跳甲跳跃过程的运动轨迹。建立质心的运动方程分析其质心运动情况,根据运动轨迹进行了跳甲的逆运动学分析,得到了每个关节角度的关系最后利用ADAMS虚拟样机对机器人模型进行仿真,结果与生物学模型相似,因此可以证明,基于老鹳草跳甲的仿生跳跃机器人具有一定的可行性,并证明该分析方法是合理的。By analyzing the biological model and the dy namic mechanism of the Altica viridicyanea,the jumping structure model of the bionic jumping beetle robot is designed.The kinematic equations of the jumping beetle is established and analyzed with the aid of the D-H method,and the kinematic trajectory of the jumping process of the jumping beetle is acquired.The kinematic equations of the center of mass is set up to analysis the behavior of the center of mass,and the kinematic inverse analysis of the jumping beetle is obtained according to the trajectory,and the relationship of each joint angle is found.Finally,the robot model is simulated using the ADAMS virtual prototype and the resuls are similar to the biological model.It can threfore be shown that the bionie jumping robot based on the Altica viridicyanea is viable and justifies the analysis method.

关 键 词：仿生跳甲机器人 跳跃结构 运动学分析 ADAMS仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]