仿青蛙变形轮式跳跃机器人的机构优化  

The mechanism optimization of the frog-like wheeled jumping robot

作　　者：曹国强 李鹏越 叶长龙 李邦宇[2] Cao Guoqiang;Li Pengyue;Ye Changlong;Li Bangyu(School of Mechanical and Electrical Engineering,Shenyang Aerospace University,Liaoning Shenyang,110136,China;Shenyang Siasun Robot&Automation Co.,Ltd.,Liaoning Shenyang,110169,China)

机构地区：[1]沈阳航空航天大学机电工程学院,辽宁沈阳110136 [2]沈阳新松机器人自动化股份有限公司,辽宁沈阳110169

出　　处：《机械设计与制造工程》2023年第8期51-56,共6页Machine Design and Manufacturing Engineering

基　　金：山东省重大科技创新工程项目(2019JZZY010128)。

摘　　要：能量储存和跳跃性能是制约跳跃机器人应用的关键因素。通过深入分析青蛙的跳跃运动,设计了一种变形轮式跳跃机器人机构,实现了能量的高效储存。在此基础上建立了轮式跳跃机构的运动学和动力学数学模型,对跳跃过程进行了详细分析。利用MATLAB对轮式跳跃机构进行了优化设计,确定了杆件的尺寸与弹簧连接点的最佳位置。建立虚拟样机和制作实物样机进行实验,实验结果与理论分析结果相吻合,验证了优化方法和结果的可靠性。Jumping robot can complete testing and inspection tasks in the complicated environment,energy storage and jumping performance is a key factor restricting the application of this kind of robot.Through in-depth analysis of frogs jumping movement and a frog jump model,the paper puts forward the deformation wheel jumping robot mechanism to achieve the efficient energy storage.On this basis,the kinematics and dynamics mathematical models of the wheeled jumping mechanism are established,and the jumping process is analyzed in detail.Using MATLAB it optimizes the design of the wheeled jumping mechanism.Under the condition of limited size,the size of the rod and the position of the connection point of the spring are determined to achieve the maximum energy storage,the virtual prototype experiment is carried out,and the results are consistent with the theoretical analysis,which fully proves that the jumping performance of the robot is improved.

关 键 词：跳跃机器人 仿生机器人 变形轮 机构优化 

分 类 号：TH112[机械工程—机械设计及理论]