基于速度可操作度的跳跃机构结构设计和优化  

Structure design and optimization of jumping mechanisms based on velocity manipulability

作　　者：李陈佳瑞 侯宇[1,2] 孙伟 许艳涛[1] 王众玄 LI Chenjiarui;HOU Yu;SUN Wei;XU Yantao;WANG Zhongxuan(Key Laboratory of Metallurgical Equipment and Control Technology,Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081,China;Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering,Wuhan University of Science and Technology,Wuhan 430065,China)

机构地区：[1]武汉科技大学冶金装备及其控制教育部重点实验室,武汉430081 [2]武汉科技大学机械传动与制造工程湖北省重点实验室,武汉430065

出　　处：《机械传动》2025年第4期56-63,79,共9页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(51875418)。

摘　　要：【目的】跳跃机器人在当今移动机器人技术领域因其独特的优势而得到广泛研究,其结构设计对于提高机器人的跳跃性能具有重要意义,但目前跳跃机构存在结构复杂、稳定性和传速性能较差的问题。【方法】因此,设计了一种单自由度闭链六杆跳跃机构,并引入速度可操作度作为衡量机构传速性能的指标,利用粒子群优化算法对机构进行了优化。【结果】结果表明,优化后的机构跳跃速度相较优化前提高了21.76%,水平方向的跳跃距离和竖直方向的跳跃高度分别提升了48.00%和48.57%,验证了跳跃机构的合理性。[Objective]Jumping robots are widely researched in the field of robotics today due to their unique advantages.The structural design of jumping mechanisms is crucial for enhancing the jumping performance of these robots.However,the current jumping mechanisms has the problems of complex structure,poor stability and speed transfer performance.[Methods]A single degree of freedom closed-chain six-bar jumping mechanism was designed.The concept of velocity manipulability was introduced as a metric to assess the speed transfer performance of the mechanism,and a particle swarm optimization algorithm was employed for the mechanism optimization.[Results]The results show that the optimized mechanism exhibits a 21.76%increase in the jumping velocity compared to its pre-optimized state.Additionally,the horizontal jumping distance and vertical jumping height have been enhanced by 48.00%and 48.57%respectively.These validate the rationality of the jumping mechanism design.

关 键 词：跳跃机构 速度可操作度 多优化准则 优化目标 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]