仿婴猴单腿弹跳机器人结构设计与实现  

Structural Design and Implementation of Simulating Galago Senegalensis Monkey Single-leg Jumping Robots

作　　者：李静 李贵[1,2,3] 孙伟 陈浩祚[1] 叶茂 李镕合 Li Jing;Li Gui;Sun Wei;Chen Haozuo;Ye Mao;Li Ronghe(School of Machinery and Automation,Wuhan University of Science and Technology,Wuhan 430065,China;Key Laboratory of Metallurgical Equipment and Control Technology of the Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081,China;Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering,Wuhan University of Science and Technology,Wuhan 430065,China)

机构地区：[1]武汉科技大学机械自动化学院,湖北武汉430065 [2]武汉科技大学冶金装备及其控制教育部重点实验室,湖北武汉430081 [3]武汉科技大学机械传动与制造工程湖北省重点实验室,湖北武汉430065

出　　处：《机械传动》2023年第11期43-48,85,共7页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(51875418);湖北省自然科学基金项目(2021CFB135);湖北省教育厅基金项目(B2020011)。

摘　　要：针对弹跳仿生机器人存在的主要问题,结合婴猴体型小且具有平稳暴发弹跳的特点,提出了一种仿婴猴单腿弹跳机器人,对其主要结构和控制系统进行了设计。通过分析婴猴的腿部结构,基于Stephenson六杆机构原理,设计了一种仿婴猴机器人腿部的平面八连杆机构,并对其轨迹进行优化,获得了具有最佳弹跳能力的杆长参数;对机器人弹跳的3个方向进行控制调整,利用双闭环反馈控制系统实现了机器人在起跳、腾空、落地时姿态的稳定;最后,建立了机器人的实物验证模型,整个机械装置质量为395.5 g,整体高度为250 mm。实验结果表明,该仿生单腿机器人可实现连续稳定的跳跃,最高弹跳速度可达20 m/s,弹跳高度为100 mm时的响应时间为0.1 s。Aiming at the main problems existing in the jumping robot,combined with the galago senegalensis monkey's characteristics of small sizes,stable and explosive jumping,a kind of galago senegalensis monkey single leg jumping robot is proposed in this study,and its main structure and control system are designed.Based on the principle of the Stephenson's six-bar linkage,a planar eight-bar linkage for the leg of simulating galago senegalensis monkey robot is designed,and its trajectory is optimized to obtain the bar length parameters with the best jumping ability.The three directions of the robot's jumping are controlled and adjusted,and the double closed-loop feedback control system is used to ensure the stability of the robot's attitude when taking off,soaring in the air,and landing on the ground.Finally,the physical verification model of the robot is established.The total weight is only 395.5 g,and the overall height is 250 mm.The experimental results show that the simulating single leg robot can achieve continuous and stable jumping,the highest jumping speed can reach 20 m/s,and the response time at a jumping height of 100 mm is 0.1 s.

关 键 词：婴猴 单腿弹跳机器人 平面八连杆机构 结构设计 姿态控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH122[自动化与计算机技术—控制科学与工程]