弹簧滑块式弹跳机器人设计与弹跳性能研究  

Design and bouncing performance study of spring slider type bouncing robots

作　　者：罗继曼[1] 宋益德 宋玉成 吴昊 刘丰源 LUO Jiman;SONG Yide;SONG Yucheng;WU Hao;LIU Fengyuan(School of Mechanical Engineering,Shenyang Jianzhu University,Shenyang 110168,China)

机构地区：[1]沈阳建筑大学机械工程学院,沈阳110168

出　　处：《机械传动》2025年第3期117-124,共8页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(62003226)。

摘　　要：【目的】为增加机器人越障性能,使机器人具有较强的地形适应能力,设计研究了一种在轮式机器人上复合弹跳机构的“行-跳两用”地形侦测机器人。【方法】弹跳机构采用弹簧与缸体滑块相结合的组合方式,通过弹簧储能实现弹跳。首先,设计了弹跳机构方案并搭建虚拟仿真样机;其次,为了研究滑杆长度和运动间关系,通过机构运动学建模,获得机构滑杆与跳跃腿摆角间关系,并进行了机构速度及加速度分析;再次,基于拉格朗日动力学方法建立机构动力学模型,得到各杆件的力矩受其转动角度及角加速度的影响规律;最后,通过斜上抛运动模型分析,研究了机器人起跳角对弹跳性能的影响关系。【结果】通过Adams软件对机器人进行跳跃仿真,验证了理论建模的准确性,同时验证了该机器人具有良好的弹跳性能及弹跳平稳性。[Objective]To increase the obstacle crossing performance of robots and enhance their terrain adaptability,a“walking jumping dual purpose”robot with a composite jumping mechanism on wheeled robots was designed and studied.[Methods]The bouncing mechanism was designed with a combination of springs and cylinder sliders,where energy was stored in the springs to enable bouncing.Firstly,a rebound mechanism scheme was designed and a virtual simulation prototype was built.Then,in order to study the relation between the sliding rod length and the motion,the relation between the sliding rod of the mechanism and the swing angle of the jumping leg was obtained through the kinematic modeling of the mechanism,and the velocity and acceleration of the mechanism were analyzed.Thirdly,a mechanism dynamics model was established based on the Lagrangian dynamics method,and the influence of the rotation angle and angular acceleration on the torque of each member was obtained.Further analysis through the oblique upward throwing motion model,the relation between the robot’s takeoff angle and its bounce performance was studied.[Results]Jumping simulations were conducted on the robot using Adams software to verify the accuracy of the theoretical modeling,as well as the good jumping performance and smoothness of the robot.

关 键 词：弹跳机构 拉格朗日动力学 起跳角 弹跳性能 弹跳平稳性 

分 类 号：TH122[机械工程—机械设计及理论]