折叠翼弹跳机器人机构设计及运动性能分析
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摘要
为提高弹跳机器人的弹跳性能,解决弹跳机器人姿态调节和弹跳距离的问题,设计一种折叠翼弹跳机器人.通过调节多链弹跳机构的空间开链机构姿态实现对机器人弹跳朝向和起跳角的控制,研究折叠翼的滑翔下落特性增加机器人的弹跳距离.进行了姿态调整仿真和运动轨迹仿真,并在研制的折叠翼弹跳机器人样机上进行了弹跳运动实验.结果该样机显示出较高的弹跳性能.当起跳角度为80?时,弹跳高度约为0.98 m.当起跳角度为60?时,弹跳距离约为3 m,弹跳距离约为对比试验中无折叠翼弹跳机器人的1.7倍,但弹跳高度略低于无折叠翼弹跳机器人.折叠翼弹跳机器人具有良好的弹跳性能,能够完成地面上任何姿态的弹跳运动.
A foldable-wing jumping robot is designed in order to improve the jumping performance of jumping robot and solve the problem of the posture adjustment and the jumping distance. The jumping orientation and the take-off angle of robot are controlled by adjusting the posture of open-chain spatial mechanism of multi-chain jumping mechanism, meanwhile the downward gliding characteristics of the foldable-wing are studied to increase the jumping distance of the robot. Attitude adjustment simulation and trajectory simulation are carried out, and the jumping motion experiments are conducted on the prototype of the developed foldable-wing jumping robot. As a result, the robot prototype shows good jumping performances.The jump height is about 0.98 m, when the take-off angle is 80?. And when the take-off angle is 60?, the jump distance is about 3 m, which is about 1.7 times that of the jumping robot without foldable wings in comparative experiments, but the jump height is slightly lower than that of the jumping robot without foldable wings. The foldable-wing jumping robot is of good jumping performance and can complete jumping movements with any posture on the ground.
A foldable-wing jumping robot is designed in order to improve the jumping performance of jumping robot and solve the problem of the posture adjustment and the jumping distance. The jumping orientation and the take-off angle of robot are controlled by adjusting the posture of open-chain spatial mechanism of multi-chain jumping mechanism, meanwhile the downward gliding characteristics of the foldable-wing are studied to increase the jumping distance of the robot. Attitude adjustment simulation and trajectory simulation are carried out, and the jumping motion experiments are conducted on the prototype of the developed foldable-wing jumping robot. As a result, the robot prototype shows good jumping performances.The jump height is about 0.98 m, when the take-off angle is 80?. And when the take-off angle is 60?, the jump distance is about 3 m, which is about 1.7 times that of the jumping robot without foldable wings in comparative experiments, but the jump height is slightly lower than that of the jumping robot without foldable wings. The foldable-wing jumping robot is of good jumping performance and can complete jumping movements with any posture on the ground.
引文
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[2]Koh J S, Jung S P, Noh M, et al. Flea inspired catapult mechanism with active energy storage and release for small scale jumping robot[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2013:26-31.
[3]柏龙,葛文杰,陈晓红,等.星面探测仿生间歇式跳跃机器人设计及实现[J].机器人,2012,34(1):32-43.Bo L, Ge W J, Chen X H, et al. Design and implementation of a bio-inspired intermittent hopping robot for planetary surface exploration[J]. Robot, 2012, 34(1):32-43.
[4]Watari E, Tsukagoshi H, Kitagawa A, et al. Development of a throw&collect type rescue inspector–6th report:Control of the throwing distance by a magnetic brake cylinder[C]//SICEICASE International Joint Conference. Piscataway, USA:IEEE,2007. DOI:10.1109/SICE.2006.315182.
[5]Zaitsev V, Gvirsman O, Ben H U, et al. A locust-inspired miniature jumping robot[J]. Bioinspiration&Biomimetics, 2015,10(6). DOI:10.1088/1748-3190/10/6/066012.
[6]Kovac M, Hraiz W, Fauria O, et al. The EPFL jumpglider:A hybrid jumping and gliding robot with rigid or folding wings[C]//IEEE International Conference on Robotics and Biomimetics. Piscataway, USA:IEEE, 2011:1503-1508.
[7]Desbiens A L, Pope M T, Christensen D L, et al. Design principles for efficient, repeated jumpgliding[J]. Bioinspiration&Biomimetics, 2014, 9(2). DOI:10.1088/1748-3182/9/2/025009.
[8]柴辉,葛文杰,魏敦文,等.一种间歇式弹跳机器人的机构设计与跳跃性能分析[J].机械工程学报,2012,48(13):19-26.Chai H, Ge W J, Wei D W, et al. Mechanism design and hopping performance analysis of an intermittent hopping robot[J].Journal of Mechanical Engineering, 2012, 48(13):19-26.
[9]张军,宋光明,李臻,等.可折叠轮式弹跳机器人FoldJumper的运动性能研究[J].机器人,2014,36(2):250-256.Zhang J, Song G M, Li Z, et al. Locomotion performance analysis of a foldable wheeled jumping robot:FoldJumper[J]. Robot,2014, 36(2):250-256.
[10]张洪涛,宋光明,张军,等.一种具有弹跳功能的翻滚式机器人设计与实现[J].机器人,2013,35(6):672-677.Zhang H T, Song G M, Zhang J, et al. Design and implementation of a tumbling robot with jumping capability[J]. Robot,2013, 35(6):672-677.
[11]杨茜,宋光明,陈天元,等.一种弹跳机器人姿态调节中离散和连续运动建模与实验研究[J].机器人,2016,38(2):160-168.Yang X, Song G M, Chen T Y, et al. Modeling and experimental study of discrete and continuous movements during posture adjustment of a jumping robot[J]. Robot, 2016, 38(2):160-168.
[12]张武翔,丁希仑,戴建生.基于约束变化特征分析的变胞机构构型综合方法[J].机械工程学报,2013,49(5):1-9.Zhang W X, Ding X L, Dai J S. Method for configuration synthesis of metamorphic mechanisms based on constraint variation[J]. Journal of Mechanical Engineering, 2013, 49(5):1-9.
[13]Kovac M, Fuchs M, Guignard A, et al. A miniature 7 g jumping robot[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2008:373-378.