仿蝗虫跳跃机构设计与分析

尹军茂; 陈殿生; 沈奇

仿蝗虫跳跃机构设计与分析

北京航空航天大学机器人研究所, 北京 100191

基金项目: 国家自然科学基金资助项目(51075014); 教育部博士点基金资助项目(20121102110021); 北京航空航天大学博士生创新基金资助项目(YWF-12-RBYJ-017)

详细信息

作者简介:
尹军茂(1985-),男,陕西咸阳人,博士生,junmaoy@163.com.

中图分类号: TH113.2
计量
- 文章访问数: 1888
- HTML全文浏览量: 185
- PDF下载量: 1561
- 被引次数: 0
出版历程
- 收稿日期: 2012-12-10
- 网络出版日期: 2013-10-30

Design and analysis of locust-like jumping mechanism

Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

摘要

摘要: 以蝗虫跳跃特性为依据,设计出一种仿蝗虫弹跳机构并对其弹跳机理进行研究.首先从生物学和机构运动学相结合的角度,对蝗虫的跳跃过程进行观察和分析,研究蝗虫后腿的跳跃机理,发现跳跃后腿膝关节在起跳过程中的重要作用.利用虚拟样机建立蝗虫模型,对蝗虫的跳跃过程进行仿真.根据蝗虫跳跃机理和后腿结构特点,基于提高能量利用率和弹跳效率原则,设计出一种单自由度的仿蝗虫跳跃机构模型,对该机构在起跳阶段进行运动性能分析,通过与蝗虫跳跃仿真结果进行比较,证明该跳跃机构具有与蝗虫弹跳后腿近似的力学特性.最后通过机构的样机实验验证了分析结果,为进一步研究仿生高效的柔性跳跃机构奠定基础.
- 跳跃机器人 /
- 蝗虫跳跃机理 /
- 弹跳机构 /
- 机构分析 /
- 机构设计
Abstract: A jumping mechanism based on jump characteristics of locust was presented. By biological observation and kinematic analysis of locust jump, the key effect of locust's hind leg knee on the jump performance was discovered, and a simplified dynamic model of locust was built to simulate locust take-off. According to the simplified locust model and physiological structure of the locust's hind leg, a 1 DOF locust-based jumping mechanism was put forward. The kinematical analysis of the mechanism during take-off was implemented and the ground reaction force on hind leg of locust was compared with that of the locust jump simulation. The results show that the mechanism has the similar mechanical properties as locust. Finally, the prototype experiment verifies the analysis results. It provides a valued basis for further research of locust-like efficient flexible jumping mechanism.
- jumping robot /
- locust-like jumping mechanism /
- hopping mechanism /
- analysis of mechanism /
- mechanical design

HTML全文

参考文献(1)

[1] Kaplan M H,Seifert H.Hopping transporters for lunar exploration[J].Journal of Spacecraft and Rockets,1969,6(3):917-922[2] Kovac M.Bioinspired jumping locomotion for miniature robotics[D].Lausanne:Ecole Polytechnique Federale de Lausanne (EPFL),2010[3] Wang Meng,Zang Xizhe,Fan Jizhuang,et al.Biological jumping mechanism analysis and modeling for frog robot[J].Journal of Bionic Engineering,2008(5):181-188[4] 胡胜海,杨奇,何蕾,等.基于速度方向可操作度的机器蛙机构参数优化[J].北京航空航天大学学报,2012,38(3):351-356 Hu Shenghai,Yang Qi,He Lei,et al.Mechanism parameters optimization of bionic frog jumping robot based on velocity directional manipulability measure[J].Journal of Beijing University of Aeronautics and Astronautics,2012,38(3):351-356(in Chinese)[5] Birch M C,Quinn R D.Design of a cricket microrobot[C]//Proceedings of the 2000 IEEE International Conference on Robotics and Automation.Piscataway,NJ:IEEE,2000:1109-1114[6] 柴辉,葛文杰,魏敦文,等.一种间歇式弹跳机器人的机构设计与跳跃性能分析[J].机械工程学报,2012,48(13):19-26 Chai Hui,Ge Wenjie,Wei Dunwen,et al.Mechanism design and hopping performance analysis of an intermittent hopping robot[J].Journal of Mechanical Engineering,2012,48(13):19-26(in Chinese)[7] Heitler W J.How grasshoppers jump[EB/OL].StAndrews:The University of St Andrews,2007[2012-07-21].[8] Burrows M,Sutton P.Locusts use a composite of resilin and hard cuticle as an energy store for jumping and kicking[J].The Journal of Experimental Biology,2012,215(19):3501-3512[9] Chen Diansheng,Yin Junmao,Zhao Kai,et.al.Bionic mechanism and kinematics analysis of hopping robot inspired by locust jumping[J].Journal of Bionic Engineering,2011,8(4):429-439[10] 陈殿生,黄宇,王田苗．轮式腿型机器人的越障分析与仿真[J]．北京航空航天大学学报,2009,35(4):371-375 Chen Diansheng,Huang Yu,Wang Tianmiao.Obstacle climbing analysis and simulation of wheel-legged robot[J].Journal of Beijing University of Aeronautics and Astronautics,2009,35(4):371-375 (in Chinese)

施引文献

资源附件(0)

访问统计