• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2015, Vol. 51 ›› Issue (13): 196-202.doi: 10.3901/JME.2015.13.196

• 机构学及机器人学研究进展——纪念张启先院士诞辰九十周年专辑 • 上一篇    下一篇

仿生蝗虫机构着陆缓冲过程中的能量分配

陈殿生, 张自强, 陈科位   

  1. 北京航空航天大学机器人研究所
  • 出版日期:2015-07-05 发布日期:2015-07-05
  • 基金资助:
    国家自然科学基金(51375035)和教育部博士点基金(20121102110021)资助项目

Energy Allocation in Landing Buffering Process for Biomimetic Locust Mechanism

CHEN Diansheng, ZHANG Ziqiang, CHEN Kewei   

  1. Robotic Institute, Beihang University
  • Online:2015-07-05 Published:2015-07-05

摘要: 着陆缓冲是仿生蝗虫跳跃机器人研究的重要问题之一,由于蝗虫的前腿、中腿和后腿尺寸不同,因此对缓冲过程中每条腿能量的分配直接影响到机器人受到地面冲击力和腿部肌肉力的大小,从而影响缓冲性能。在对蝗虫形态及着陆过程进行试验观测的基础上,采用弹簧等效代替蝗虫腿部肌肉,建立仿生蝗虫机构模型,并通过对机构进行受力分析,求得地面对机构各条腿支撑力与弹簧刚度系数之间的函数关系式。基于地面支撑力、腿部弹簧力以及每条腿的抗冲击能力的不同,提出了使得力的变化平缓、无冲击载荷的能量分配原则,根据该原则可求得各条腿的弹簧刚度系数。从算例中可以看出,此时仿生蝗虫机构所受到的地面支撑力和腿部弹簧力与不同着陆腿的抗冲击能力相吻合,且力的变化趋势平稳,可实现较好的缓冲效果。分析结果表明了分配方法的可行性,这为仿生蝗虫机构设计时腿部弹簧的选型提供了依据。

关键词: 仿生蝗虫机构, 能量分配, 受力分析, 着陆缓冲

Abstract: Landing buffer is one of the important problems for the research of biomimetic locust jumping robot. Because the sizes of forelegs, midlegs and hindlegs are different, the energy allocation for each leg affects the magnitude of impact forces and muscle forces in legs, and thus affects the buffer performance. Based on the experiment observation for the locust’s structure and landing buffering process, the springs are used to replace the locust’s leg muscles, and biomimetic locust mechanism is established. The force analysis is carried out for the mechanism in order to obtain the relationship between the supporting force the ground to each leg of mechanism and the spring stiffness coefficient. Based on the supporting forces, the spring forces and the different impact resistance of each leg, the energy allocation principle is proposed which makes the forces be gradual changes and no impact load, and the spring stiffness coefficient of each leg can be obtained according to this principle. As can be seen from the example, the supporting forces and the spring forces accord with the different impact resistance of legs and the trends of the forces are smoothly, which mean that the mechanism can obtain the better buffering performance. It shows the feasibility of this method, and provides a basis for the selection of the springs of biomimetic locust mechanism.

Key words: biomimetic locust mechanism, energy allocation, force analysis, landing buffer

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