北京航空航天大学学报 ›› 2016, Vol. 42 ›› Issue (10): 2091-2098.doi: 10.13700/j.bh.1001-5965.2015.0626

• 论文 • 上一篇    下一篇

新型缓冲腿结构设计及性能分析

张自强, 陈殿生, 陈科位   

  1. 北京航空航天大学 机械工程及自动化学院, 北京 100083
  • 收稿日期:2015-09-23 出版日期:2016-10-20 发布日期:2016-02-18
  • 通讯作者: 陈殿生,Tel.:010-82339089,E-mail:chends@buaa.edu.cn E-mail:chends@buaa.edu.cn
  • 作者简介:张自强,男,博士研究生。主要研究方向:仿生机器人技术。Tel.:010-82339627,E-mail:zzq06520011@163.com;陈殿生,男,博士,教授,博士生导师。主要研究方向:助老助残机器人、仿生机器人和机电智能控制技术。Tel.:010-82339089,E-mail:chends@buaa.edu.cn
  • 基金资助:
    国家自然科学基金(51375035);高等学校博士学科点专项科研基金(20121102110021)

Structure design and performance analysis of a new buffering leg

ZHANG Ziqiang, CHEN Diansheng, CHEN Kewei   

  1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2015-09-23 Online:2016-10-20 Published:2016-02-18
  • Supported by:
    National Natural Science Foundation of China (51375035); Specialized Research Fund for the Doctoral Program of Higher Education of China (20121102110021)

摘要: 腿部结构是实现仿生蝗虫跳跃机器人良好缓冲性能的重要组成部分,因此对其进行结构设计及分析具有重要的意义。为实现更好的着陆缓冲性能,基于蝗虫腿部生理结构和现有仿生串联腿的结构形式,设计了一种新型的用于跳跃机器人的缓冲腿。在对缓冲腿的力学性能进行分析的基础上,根据缓冲性能评价原则,对结构参数进行了分析及优化,并对同时处于最优状态下的新型缓冲腿和原有仿生串联缓冲腿的缓冲性能进行分析比较。相对于原有仿生串联缓冲腿,改进后的新型缓冲腿受到地面作用力的幅值减小了25.3%,储能能力提高了34.6%。这为仿生蝗虫跳跃机器人及其他着陆机构的研制提供了依据。

关键词: 仿生机器人, 缓冲腿, 结构设计, 参数优化, 性能分析

Abstract: The leg structure is an important component to achieve good buffering performance for bionic locust jumping robot, so the structure design and analysis of the leg has important significance. In order to achieve the better landing buffering performance, a new buffering leg is designed based on the physiological structure of the locust's leg and the structure of bionic series buffering leg. After the kinematic and mechanical property analysis for the buffering leg, the structure parameters are analyzed and optimized according to the buffering performance evaluation principle, and the buffering performance of the new buffering leg and bionic series buffering leg, which are in the optimal state, is compared and analyzed. Compared with the bionic series buffering leg, the amplitude of the force that the new buffering leg is subjected to from the ground reduces by 25.3%, and the energy storage capacity increases by 34.6%. It provides a basis for the development of robot and other landing mechanism.

Key words: bionic robot, buffering leg, structure design, parameter optimization, performance analysis

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