留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

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。

     

  • [1] 尹军茂,陈殿生,沈奇.仿蝗虫跳跃机构设计与分析[J].北京航空航天大学学报,2013,39(10):1348-1353. YIN J M,CHEN D S,SHEN Q.Design and analysis of locust-like jumping mechanism[J].Journal of Beijing University of Aeronautics and Astronautics,2013,39(10):1348-1353(in Chinese).
    [2] 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 H,GE W J,WEI D W,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).
    [3] ZHAO J,XU J,GAO B,et al.MSU jumper:A single-motor-actuated miniature steerable jumping robot[J].IEEE Transactions on Robotics,2013,29(3):602-614.
    [4] KOVA M,SCHLEGEL M,ZUFFEREY J C,et al.Steerable miniature jumping robot[J].Autonomous Robots,2010,28(3):295-306.
    [5] SCARFOGLIERO U,STEFANINI C,DARIO P.Design and development of the long-jumping[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ:IEEE Press,2007:467-472.
    [6] DUBOWSKY S,KESNER S,PLANTE J S,et al.Hopping mobility concept for search and rescue robots[J].Industrial Robot,2008,35(3):238-245.
    [7] NOH M,KIM S W,AN S,et al.Flea-inspired catapult mechanism for miniature jumping robots[J].IEEE Transactions on Robotics,2012,28(5):1007-1018.
    [8] WANG H M,LUAN Y G,OETOMO D,et al.Design, analysis and experimental evaluation of a gas-fuel-powered actuator for robotic hoppers[J].IEEE/ASME Transactions on Mechatronics,2015,20(5):2264-2275.
    [9] SALTON J R,BUERGER S,MARRON L,et al.Urban hopper[C]//SPIE Defense Security and Sensing International Society for Optics and Photonics.Bellingham:SPIE,2010:76920Z.
    [10] ACKERMAN E.Boston dynamics sand flea robot demonstrates astonishing jumping skills[EB/OL].IEEE Spectrum Robotics Blog(2012-03-28)[2015-06-03].http://spectrum.ieee.org/automaton/robotics/military-robots/boston-dynamics-sand-flea-demonstrates-astonishing-jumping-skills/.
    [11] DING L,DENG Z,GAO H,et al.Planetary rovers' wheel-soil interaction mechanics:New challenges and applications for wheeled mobile robots[J].Intelligent Service Robotics,2011,4(1):17-38.
    [12] IRANI R A,BAUER R J,WARKENTIN A.A dynamic terramechanic model for small lightweight vehicles with rigid wheels and grousers operating in sandy soil[J].Journal of Terramechanics,2011,48(4):307-318.
    [13] LEVER J H,SHOOP S A,BERNHARD R I.Design of lightweight robots for over-snow mobility[J].Journal of Terramechanics,2009,46(3):67-74.
    [14] YEOMANS B,SAAJ C M,VAN WINNENDAEL M.Walking planetary rovers:Experimental analysis and modeling of leg thrust in loose granular soils[J].Journal of Terramechanics,2013,50(2):107-120.
    [15] 张克通.轮式移动弹跳机器人研究[D].南京:南京航空航天大学,2010:17. ZHANG K T.Research on wheeled hopping robot[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2010:17(in Chinese).
    [16] TILIAKOS N,TYLL J S,HERDY R,et al.Development and testing of a nitrous oxide/propane rocket engine:AIAA-2001-3258[R].Reston:AIAA,2001.
    [17] BEKKER M G.Land locomotion on the surface of planets[J].ARS Journal,1962,32(11):1651-1659.
    [18] HUNT K,CROSSLEY F.Coefficient of restitution initerpreted as damping in vibroimpact[J].Journal of Applied Mechanics,1975,42(2):440-445.
    [19] WONG J Y.Theory of ground vehicles[M].Hoboken,NJ:John Wiley & Sons,2008:65.
    [20] DING L,GAO H,DENG Z,et al.Foot-terrain interaction mechanics for legged robots:Modeling and experimental validation[J].The International Journal of Robotics Research,2013,32(13):1585-1606.
  • 加载中
计量
  • 文章访问数:  711
  • HTML全文浏览量:  2
  • PDF下载量:  739
  • 被引次数: 0
出版历程
  • 收稿日期:  2015-06-03
  • 刊出日期:  2016-05-20

目录

    /

    返回文章
    返回
    常见问答