基于连杆构型的守宫用移动关节仿生设计  

BIONIC DESIGN OF THE MOVING JOINTS FOR GECKO BASED ON LINKAGE CONFIGURATION

作　　者：赵静[1] 吕博 张瑞宁 王超辉 张嘉友 ZHAO Jing;LÜBo;ZHANG RuiNing;WANG ChaoHui;ZHANG JiaYou(School of Mechanical Engineering,Xijing University,Xi′an 710123,China)

机构地区：[1]西京学院机械工程学院,西安710123

出　　处：《机械强度》2023年第3期701-707,共7页Journal of Mechanical Strength

基　　金：西京学院校科研基金项目(XJ170104),西京学院大学生创新训练项目资助。

摘　　要：为提升仿生壁虎的机动性与越障能力,设计开发了一种具有两自由度驱动的腿足式移动关节仿生构型。以机构学原理为导引,将吸盘、舵机、平面连杆等与壁虎体态构造进行有机融合,构建基于特征的关节组件三维实体造型,在仿形设计基础上实现了腿足关节的运动功能模拟。通过大、小腿关节联动轨迹仿真,验证了传动设计的正确性与可行性,同时分析了仿生关节的角动摆幅(0~73°)和越障高度(>30 mm)。静力学分析结果显示,不同承载环境(如平地、倒挂、垂壁)下的仿生关节符合强度和刚度设计要求。机体实验测试表明,该仿生关节运动平稳、传力可靠,具有良好的仿生机动性能。本研究为仿生壁虎移动技术探索开拓了新思路。For improving the mobility and obstacle climbing ability of the bionic gecko,a bionic moving joint configuration in legged style with two degrees of freedom is designed and developed.Based on the principle of mechanism,the sucker,steering engine and planar linkage,etc.are organically integrated with gecko morphology,and 3D solid modeling of the joint components based on features is constructed,which realize the motion function simulation of the legged joint on the basis of profiling design.The correctness and feasibility of the transmission design are verified through the trajectory simulation of the large and small leg joints.At the same time,the swing angle(0~73°)and obstacle climbing height(>30 mm)of the bionic joint are analyzed.The results of static analysis show that the bionic joint under different load⁃bearing environments(such as flat ground,hang upside down,vertical wall)can meet the design requirements of strength and stiffness.The experimental test of the bionic gecko shows that the legged joint has not only stable movement and reliable force transmission performance,but also good bionic mobility.This study provides an new ideas for the mobile technology exploration of bionic gecko.

关 键 词：仿生 腿足关节 壁虎 造型 仿真 3D打印 实验 

分 类 号：TH128[机械工程—机械设计及理论] TP242.6[自动化与计算机技术—检测技术与自动化装置]