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燃气动力弹跳机器人在不同地面弹跳能力

栾云广 王化明 赵东标 汪洋 陈峰洪

栾云广, 王化明, 赵东标, 等 . 燃气动力弹跳机器人在不同地面弹跳能力[J]. 北京航空航天大学学报, 2016, 42(5): 984-991. doi: 10.13700/j.bh.1001-5965.2015.0365
引用本文: 栾云广, 王化明, 赵东标, 等 . 燃气动力弹跳机器人在不同地面弹跳能力[J]. 北京航空航天大学学报, 2016, 42(5): 984-991. doi: 10.13700/j.bh.1001-5965.2015.0365
LUAN Yunguang, WANG Huaming, ZHAO Dongbiao, et al. Hopping ability of gas fuel powered hopping robot on different grounds[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(5): 984-991. doi: 10.13700/j.bh.1001-5965.2015.0365(in Chinese)
Citation: LUAN Yunguang, WANG Huaming, ZHAO Dongbiao, et al. Hopping ability of gas fuel powered hopping robot on different grounds[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(5): 984-991. doi: 10.13700/j.bh.1001-5965.2015.0365(in Chinese)

燃气动力弹跳机器人在不同地面弹跳能力

doi: 10.13700/j.bh.1001-5965.2015.0365
基金项目: 流体动力与机电系统国家重点实验室开放基金(GZKF-201406);江苏省自然科学基金(BK2011735)
详细信息
    作者简介:

    栾云广 男,博士研究生。主要研究方向:弹跳机器人。E-mail:luanyunguang@nuaa.edu.cn;王化明 男,博士,教授。主要研究方向:介电型EAP驱动器,弹跳机器人。Tel.:025-84892503 E-mail:hmwang@nuaa.edu.cn;赵东标 男,博士,教授,博士生导师。主要研究方向:数控机床,机器人控制。E-mail:zdbme@nuaa.edu.cn

    通讯作者:

    王化明,Tel.:025-84892503 E-mail:hmwang@nuaa.edu.cn

  • 中图分类号: TP242.3

Hopping ability of gas fuel powered hopping robot on different grounds

  • 摘要: 燃气动力弹跳机器人具有很强的越障能力,但不同特性地面对其弹跳性能影响较大。针对上述问题,对燃气动力弹跳机器人起跳过程的动力学模型进行理论与试验分析。首先建立了机器人起跳动力学模型,利用Hunt-Crossley模型对机器人脚与地面的作用力进行分析;然后构建试验平台,对模拟硬黏土、草地进行静态、动态力学特性测试,得到相应的力学参数;最后对弹跳机构在刚性地面、模拟硬黏土和模拟草地分别进行弹跳分析与试验。在一定充气压力条件下(丙烷0.01 MPa、一氧化二氮0.21 MPa)燃烧室内燃后压力基本相同(最大压力约3.1 MPa),而弹跳机构(总重为3.55 kg)在刚性地面和硬黏土地面的弹跳高度分别为2.0 m和1.4 m,在草地地面相对充气压力为0 MPa条件下,其弹跳高度为0.1 m。结果表明,机器人在松软的地面较刚性地面弹跳高度较低,且模拟3种地面的弹跳试验结果与分析结果较为吻合。

     

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出版历程
  • 收稿日期:  2015-06-03
  • 网络出版日期:  2016-05-20

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