北京航空航天大学学报 ›› 2016, Vol. 42 ›› Issue (5): 984-991.doi: 10.13700/j.bh.1001-5965.2015.0365

• 论文 • 上一篇    下一篇

燃气动力弹跳机器人在不同地面弹跳能力

栾云广1, 王化明1,2, 赵东标1, 汪洋1, 陈峰洪1   

  1. 1. 南京航空航天大学 机电学院, 南京 210016;
    2. 流体动力与机电系统国家重点实验室, 杭州 310027
  • 收稿日期:2015-06-03 出版日期:2016-05-20 发布日期:2015-12-08
  • 通讯作者: 王化明,Tel.:025-84892503 E-mail:hmwang@nuaa.edu.cn E-mail:hmwang@nuaa.edu.cn
  • 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
  • 基金资助:
    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)

Hopping ability of gas fuel powered hopping robot on different grounds

LUAN Yunguang1, WANG Huaming1,2, ZHAO Dongbiao1, WANG Yang1, CHEN Fenghong1   

  1. 1. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
    2. State Key Laboratory of Fluid Power Transmission and Control, Hangzhou 310027, China
  • Received:2015-06-03 Online:2016-05-20 Published:2015-12-08

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。

关键词: 燃气动力弹跳机器人, 动力学分析, 地面力学特性, 接触, 试验分析

Abstract: Gas fuel powered hopping robot has great traverse obstacle ability, but its performance is affected by ground mechanical properties greatly. For exploring ground influence on the hopping robot performance, the dynamic model of the robot is analyzed by theory and experiments during take-off process. Firstly, hopping robot taking off dynamic model is set up and the reaction force between ground and robot foot is analyzed according to the Hunt-Crossley contact model. Secondly, the test platform is set up to test the static and dynamic contact model relative parameters on hard clay soil and grass soil. Finally, the hopping mechanism test experiments on rigid ground, hard clay ground and grass ground are conducted and analyzed respectively. When 0.01 MPa propane and 0.21 MPa nitrous oxide are injected in hopping actuator, 3.55 kg hopping mechanism can hop 2.0 m and 1.4 m on rigid ground and hard clay ground respectively, while the pressures of the chamber are basically the same. The maximum pressure inside the chamber is about 3.1 MPa. On the grass ground, the hopping height is 0.1 m when 0 MPa gas source is filled in the chamber. The result shows that robot hops lower on soft ground than rigid ground and experiments fit well with the analysis results on the three grounds.

Key words: gas fuel powered hopping robot, dynamic analysis, ground mechanical property, contact, experimental analysis

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