新型弹跳自平衡机器人的机构设计与跳跃运动性能分析  

Mechanism Design and Jumping Motion Performance Research of a New Type of Bouncing Self Balancing Robot

作　　者：张姚久敏 贺利乐[1] 陈佳旋 贺宁 ZHANG Yaojiumin;HE Lile;CHEN Jiaxuan;HE Ning(School of Mechanical and Electrical Engineering,Xi’an University of Architecture and Technology,Xi’an 710399,China)

机构地区：[1]西安建筑科技大学机电工程学院,西安710399

出　　处：《机械设计与研究》2024年第6期122-127,共6页Machine Design And Research

摘　　要：设计了一种带有反作用轮式自平衡机构和六连杆弹跳机构的新型弹跳自平衡机器人结构。首先设计并计算机器人所用的反作用轮式自平衡机构必要零件,以保障机器人可以在空中保持平衡并能平稳落地。其次设计两种弹跳机构并选出能量利用率较高的方案。而后设计了一款具有能量储存、维持和快速释放的蓄能机构以确保弹跳过程中较高的能量利用率。使用ADAMS进行运动仿真分析及样机实验,验证了机构设计的可行性并探究了零件选型对弹跳自平衡机器人运动性能的影响以及运动参数对运动性能的影响规律。为后续进一步研究奠定了基础。A bounce self-balancing robot structure with a reaction wheel type self-balancing mechanism and a six-link bounce mechanism is designed.Firstly,the necessary components of the reaction wheel self-balancing mechanism used by the robot are designed and calculated,and the required PID control system is designed to ensure that the robot can maintain balance in the air and land smoothly.Secondly,two types of bounce mechanisms are designed and the scheme with higher energy utilization rate is selected.Subsequently,an energy storage mechanism with energy storage,maintenance,and rapid release is designed to ensure high energy utilization during the bounce process.Finally,an example verification is conducted using ADAMS for motion simulation analysis,verifying the feasibility of mechanism design and exploring the influence of component selection on the motion performance of the bouncing self-balancing robot.This work lays the foundation for further physical experiments in the future.

关 键 词：弹跳机器人 自平衡 机构设计 ADAMS仿真 运动性能 

分 类 号：TH12[机械工程—机械设计及理论]