基于微平台的自主起降仿生鸟弹跳机构设计  

Design of Bionic Bird Jumping Mechanism for Autonomous Take-off and Landing Based on the Micro-platform

作　　者：张淳彭 邵伟平[1,3] 郝永平 Zhang Chunpeng;Shao Weiping;Hao Yongping(School of Mechanical Engineering,Shenyang Ligong University,Shenyang 110159,China;School of Equipment Engineering,Shenyang Ligong University,Shenyang 110159,China;Liaoning Key Laboratory of Advanced Manufacturing Technology and Equipment,Shenyang 110159,China)

机构地区：[1]沈阳理工大学机械工程学院,辽宁沈阳110159 [2]沈阳理工大学装备工程学院,辽宁沈阳110159 [3]辽宁省先进制造技术与装备重点实验室,辽宁沈阳110159

出　　处：《机械传动》2024年第5期48-53,共6页Journal of Mechanical Transmission

基　　金：辽宁省教育厅面上重点项目(LJKZ0236)。

摘　　要：针对仿生扑翼鸟下肢的弹跳起飞和缓冲降落功能,开展了对其下肢弹跳机构的研究。以鸟类下肢骨骼的尺寸比例为参考,对鸟类起飞的下肢运动特性进行分析;在弹跳下蹲阶段,为了避免翅膀与地面发生干涉,采用基于微平台起降方式的方法对下肢弹跳机构进行了设计;为了提高下肢的仿生性,设计了类平行四边形下肢腿部机构,结合空间D-H表达法,建立了下肢机构的运动学方程;利用拉格朗日方程,建立了下肢机构的动力学方程;利用Adams软件进行装配体弹跳仿真分析,对其下肢腿部机构进行求解。结果表明,装配体质心水平初速度达到了仿生鸟“苍鹰”起飞所需的临界速度条件,可以实现弹跳起飞。Aiming at the function of the lower limb of bionic flapping birds,the lower limb bounding mech-anism is studied.Based on the size ratio of the lower limb bone of birds,the lower limb movement characteristics of birds are analyzed.In order to avoid the interference between the wings and the ground in the jumping squat stage,the lower limb jumping mechanism is designed based on the micro-platform take-off and landing method.In order to improve the imitation of lower limbs,a parallelogram like lower limb leg mechanism is designed,and the kinematic equation of lower limb mechanism is established by combining the spatial D-H expression meth-od.Based on the Lagrange equation,the dynamic equation of the lower limb mechanism is established.Adams software is used to simulate the bouncing of the assembly,and the lower limb and leg mechanism are solved.The results show that the initial velocity of the assembly body core level reaches the critical speed condition re-quired for the goshawk take-off,and it can realize the bouncing take-off.

关 键 词：仿生鸟 下肢机构 弹跳起飞 自主起降 类平行四边形机构 

分 类 号：TB17[生物学—生物工程] TH112[机械工程—机械设计及理论]