间歇运动机构驱动的仿青蛙跳跃机器人设计  

Design of frog-like jumping robot drived by the intermittent motion mechanism

作　　者：张楷怿 关栋 邹柏琪 王德开 杨征葳 石阳 ZHANG Kaiyi;GUAN Dong;ZOU Baiqi;WANG Dekai;YANG Zhengwei;SHI Yang(School of Mechanical Engineering,Yangzhou University,Yangzhou 225100,China;National Industrial Innovation Center of Intelligent Equipment,Mao Ming Academician Workstation,Changzhou 213376,China;China North Vehicle Research Institute,Beijing 100071,China)

机构地区：[1]扬州大学机械工程学院,江苏扬州225100 [2]毛明院士工作站智能无人装备产业创新中心,江苏常州213376 [3]中国北方车辆研究所,北京100071

出　　处：《扬州大学学报(自然科学版)》2025年第2期63-69,共7页Journal of Yangzhou University:Natural Science Edition

基　　金：国家自然科学基金资助项目(52005433);江苏省产学研合作资助项目(BY20231480);扬州市市校合作资助项目(2023213);教育部产学合作协同育人资助项目(230705862261834)。

摘　　要：为增强跳跃机器人的机动性,模仿青蛙后肢骨骼结构设计了一款新型跳跃机器人。通过分析青蛙跳跃过程中骨骼及肌腱的运动轨迹,采用多连杆串联结构和间歇运动机构,设计并制作仿青蛙后肢结构的跳跃机器人,同时为间歇运动机构匹配大扭矩减速电机,驱动跳跃机构实现电能、势能和动能的依次传递与转化,并通过虚拟样机技术模拟与优化跳跃机构。样机测试结果表明:该机器人具有良好的跳跃能力,单次跳跃距离达140 cm,跳跃高度达30 cm。该研究为开发高越障能力的跳跃机器人及其在军事领域的应用提供了参考。In order to enhance the mobility of the jumping robot,a new jumping robot is designed by imitating the skeletal structure of the hind limb of the frog.Based on the analysis of the motion trackory of the skeleton and tendons in the frog jumping process,a jumping robot imitating the hind limb structure of the frog is designed and fabricated by using the multi-link series structure and the intermittent motion mechanism.Meanwhile,the high-torque decelerating motor is matched for the intermittent motion mechanism to drive the jumping mechanism to realize the transfer and conversion of electric energy,potential energy and kinetic energy in turn.The jump mechanism is simulated and optimized by virtual prototyping technology.The test results of the prototype show that the robot has good jumping ability,with a single jump distance of 140 cm and a jump height of 30 cm.The research provides a reference for the development of jumping robot with high obstacle crossing ability and its application in military field.

关 键 词：越障能力 运动学分析 仿青蛙后肢 跳跃机构 虚拟样机技术 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]