摘要
【目的】为解决现有跳跃机器人落地冲击力大、不稳定的问题,设计了一种具有新型缓冲装置的跳跃机器人。【方法】首先,利用缓冲装置中的止转机构减少落地冲击,并采用单向轴承与阻尼环的配合,避免缓冲装置因吸收地面冲击力而造成的机体回弹;其次,根据机器人的结构形式和跳跃运动原理,建立跳跃机器人的主体结构,分析了其缓冲机制,基于SolidWorks平台建立了跳跃机器人的三维实体模型;最后,基于Adams平台,对跳跃机器人的弹跳过程开展运动仿真,针对缓冲装置中有无止转机构、有无变阻尼缓冲机构等状态下的机器人落地稳定性和冲击进行了对比分析。【结果】研究结果表明,该机器人具有良好的稳定跳跃与落地缓冲能力,可以降低因弹性势能的瞬间释放而导致机体回弹倾覆、进而使零部件损坏的风险。
[Objective]To solve the problems of high impact force and unstable landing of existing jumping robots,a jumping robot with a new type of buffer device was designed.[Methods]Firstly,a stopping mechanism in the buffer device was proposed to reduce the landing impact,and a combination of one-way bearings and damping rings was used to avoid the rebound of the body caused by the absorption of ground impact force by the buffer device.Secondly,based on the structural form and jumping principle of the robot,the main structure of the jumping robot was established,and the buffering mechanism was analyzed.The three-dimensional solid model of the jumping robot was built on the SolidWorks platform.Finally,based on the Adams platform,motion simulation was conducted on the bouncing process of the jumping robot,and a comparative analysis was conducted on the landing stability and impact of the robot with and without a stopping mechanism and a variable damping buffer mechanism in the buffer device.[Results]The research results indicate that the robot has good stable jumping and landing buffering capabilities,which can reduce the risk of body rebound and overturning caused by the instantaneous release of elastic potential energy,thereby causing damage to components.
作者
王建
许成龙
张文祥
王晨杰
WANG Jian;XU Chenglong;ZHANG Wenxiang;WANG Chenjie(School of Mechanical Engineering,Nanjing Institute of Technology,Nanjing 211167,China)
出处
《机械传动》
北大核心
2025年第10期46-52,158,共8页
Journal of Mechanical Transmission
基金
国家自然科学基金项目(51205335)。
关键词
跳跃机器人
缓冲装置
结构设计
运动仿真
Jumping robot
Buffer device
Structure design
Motion simulation
