摘要
为了提高多足跳跃机器人的跳跃高度,基于跳蛛的腿部结构和跳跃机理,设计了一种机身弹射与腿部伸展相结合的复合跳跃式机器人。首先,根据跳蛛的跳跃机理,设计了机器人腿部结构和弹射装置,并利用UG三维建模软件对机器人整体进行建模;其次,利用MD-H (modified Denavit-Hartenberg,改进DH)法对机器人腿部进行运动学建模并分析,利用MATLAB软件计算机器人腿部的工作空间,并采用拉格朗日法进行动力学计算;然后,设计了采用棘轮和锥齿轮传动的弹射装置,并根据能量守恒定律和胡克定律设计了其储能弹簧;接着,设计了机器人运动控制系统;最后,进行ADAMS运动仿真,得出机器人垂直跳跃时最大高度为734.117 6 mm,向前跳跃时最大向前距离为447.641 7 mm,整个运动过程用时1.5~2.0 s,并采用3D打印技术制作了实物模型进行实验验证。研究结果表明,多足跳跃机器人采用复合式跳跃方式,可以有效增大垂直跳跃高度和向前跳跃距离,因此具有更好的实用性。
In order to improve the jumping height of multi-legged jumping robot,based on the leg structure and jumping mechanism of jumping spider,a composite jumping robot based on fuselage ejection and leg extension was designed.Firstly,based on the jumping mechanism of jumping spider,the leg structure and ejection device of robot were designed,and the overall structure of robot was modeled using UG 3D modeling software.Secondly,the MD-H(modified Denavit-Hartenberg)method was used for conduct kinematic modeling and analysis of the robots leg,MATLAB software was used to calculate the working space of the robots leg,and Lagrange method was used to calculate the dynamics of the leg.Then,a ejection device employing ratchet drive and bevel gear drive was designed,and its energy storage spring was designed according to the law of energy conservation and Hookes law.Next,the motion control system for the robot was established.Finally,ADAMS motion simulation was carried out,and the results showed that the maximum height was 734.1176 mm when the robot jumped vertically,and the maximum forward distance was 447.6417 mm when it jumped forward.The whole motion process took 1.5-2.0 s.A physical model was made using 3D printing technology for experimental verification.The research results show that the composite jumping motion of multi-legged jumping robot can effectively improve the vertical jumping height and forward jumping distance,so the robot has better practicality.
作者
魏晓华
韩峰
韩晓亮
何明忠
WEI Xiaohua;HAN Feng;HAN Xiaoliang;HE Mingzhong(College of Mechanical Engineering,Liaoning Technical University,Fuxin 123000,China)
出处
《工程设计学报》
北大核心
2025年第3期334-345,共12页
Chinese Journal of Engineering Design
基金
辽宁省教育厅项目(LJ2019JL024)。
关键词
跳蛛
跳跃机器人
弹射装置
运动仿真
jumping spider
jumping robot
ejection device
motion simulation
