人机协作仿长臂猿运动装置的机械设计与分析  

Mechanical Design and Analysis of Human-Machine Collaborative Device Mimicking the Gibbon Motion

作　　者：沈秋月 孙亮波 吴广卓 沈咏琪 SHEN Qiu-yue;SUN Liang-bo;WU Guang-zhuo;SHEN Yong-qi(School of Mechanical Engineering,Wuhan Polytechnic University,Wuhan 430023,Hubei,China)

机构地区：[1]武汉轻工大学机械工程学院,湖北武汉430023

出　　处：《机械研究与应用》2025年第1期163-167,共5页Mechanical Research & Application

摘　　要：该研究聚焦于灵长类仿生机器人的机械设计,基于长臂猿在丛林中摆荡前行的特殊动作机理及仿生学原理创新性地开发了一款仿生机械运动装置,以突破灵长类仿生机械在交互性与人机协作上的限制。该文论述了仿生机械运动装置的设计思路,对左右手交替的差速控制模型和摆荡周期进行了分析和计算,检验了运动模式的拟合度。在机械结构设计上,该装置融合了双链条轨道的弯道差速控制和绳索伸缩机构等关键模块,实现了悬摆运动与前行运动的巧妙模拟,二者经运动叠加可模拟出长臂猿在丛林中飞跃的动作。该装置不仅具备健身训练功能,也可作为一种娱乐设施,可为用户提供身临其境的丛林飞跃的体验。其集趣味性、健身与娱乐为一体,展现出广泛的应用前景和市场潜力。In this research,focusing on the mechanical design of primate bionic robots,a biomimetic mechanical motion device is innovatively developed based on the principle of biomimicry,specifically addressing the unique locomotion mechanism of gibbons swinging and moving in the jungle,which overcomes the limitations of primate-inspired robotics in terms of interaction and human-machine collaboration.The paper discusses the design concept of the device,analyzes and calculates the differential speed control model for alternating left and right hand movements,as well as the oscillation period,and verifies the fitting of the motion pattern.In terms of mechanical structure design,the device integrates key components such as curved differential speed control of dual chain tracks and a rope extension mechanism,achieving a clever simulation of swinging and forward movement,which,when combined,simulates the leaping motion of gibbons in the jungle.This device not only serves as a fitness training tool but also functions as an entertainment facility,providing the users with an immersive experience of gibbons leaping in the jungle.Its integration of entertainment,fitness,and fun demonstrates extensive potential for application and market opportunities.

关 键 词：创新设计 仿生机构 人机协作 摆荡前行 运动叠加 

分 类 号：TH16[机械工程—机械制造及自动化] TH122