仿猛禽机器人稳态栖息动力学建模及参数优化  

Steady-State Perching Dynamic Modeling and Parameter Optimization of Bionic Raptor Robot

作　　者：许勇 郭书言 魏馨梅 XU Yong;GUO Shuyan;WEI Xinmei(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620

出　　处：《西南大学学报（自然科学版）》2024年第6期166-175,共10页Journal of Southwest University(Natural Science Edition)

基　　金：上海市自然科学基金面上项目(21ZR1426000).

摘　　要：提出了一种在非结构化环境中具备可靠抓握和稳定栖息能力的仿猛禽机器人,求解了具有最小倾覆力矩的腿部最优尺寸,获得了满足倾覆力矩和动量约束的栖息成功参数域,设计了具有强大抓取力并通过自锁保持可靠抓握状态的欠驱动抓握腿爪.上述确保稳定栖息的动力学参数优化设计,以及确保可靠抓握的精巧腿爪结构,为实现仿猛禽栖息机器人在遥感探测、搜救避险、环境监测等非结构化环境中的广泛应用奠定了基础.A bionic raptor robot which has reliable grasping and stable perching abilities in unstructured environment is proposed in this paper.The optimal parameters of leg with minimum overturning moment were obtained.The success-perching parameter domain satisfying constraints of the overturning moment and momentums was obtained.The underactuated grasping leg/claw was designed,which had strong grasping force and can maintain reliable grasping state by self locking.The aforementioned optimized designs of dynamic parameters for ensuring stable perching,and the elaborate leg/claw structure for ensuring reliable grasping,have laid foundation for wide applications of the robot in unstructured environments such as remote sensing,search and rescue,and environmental monitoring.

关 键 词：仿猛禽机器人 稳态栖息模型 动量模型 栖息成功参数域 欠驱动抓握腿爪 

分 类 号：TH112[机械工程—机械设计及理论]