燃气动力弹跳机器人的设计与试验研究

doi:10.3901/JME.2016.11.019

机械工程学报 ›› 2016, Vol. 52 ›› Issue (11): 19-21.doi: 10.3901/JME.2016.11.019

扫码分享

燃气动力弹跳机器人的设计与试验研究

左方睿¹, 王化明^{1, 2}, 栾云广¹, 朱剑英¹, 王振¹, 黄青云¹

1. 南京航空航天大学机电学院南京 210016;
2. 浙江大学流体动力与机电系统国家重点实验室杭州 310027

出版日期:2016-06-05 发布日期:2016-06-05
作者简介:左方睿,男,1990年出生。主要研究方向为跳跃机器人、软材料驱动。E-mail：zfr900301@gmail.com;王化明(通信作者),男,1973年出生,博士,教授,博士研究生导师。主要研究方向为弹跳机器人、仿生柔性机器人。E-mail：hmwang@nuaa.edu.cn
基金资助:
国家自然科学基金(51305209)、流体动力与机电系统国家重点实验室开放基金(GZKF-201406)和南京航空航天大学基本科研业务费(NS2014047)资助项目

On the Design and Experiments of a Gas Fuel-powered Hopping Robot

ZUO Fangrui¹, WANG Huaming^{1, 2}, LUAN Yunguang¹, ZHU Jianying¹, WANG Zhen¹, HUANG Qingyun¹

1. College of Mechanical and Electrical Engineering, Nanjing University of Aercnautics and Astronautics, Nanjing 210016;
2. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027

Online:2016-06-05 Published:2016-06-05

摘要/Abstract

摘要： 以可燃混合气体为动力源,设计了一种燃气动力的弹跳机器人,包括弹跳驱动器和轮式运动机构。弹跳驱动器采用双活塞燃烧室结构及磁力锁紧机构,有效减小驱动器体积,有利于驱动器复位和废气排除。轮式运动机构包括车身和蜂窝车轮,车身作为驱动器载体,蜂窝车轮用于机器人落地缓冲。对车轮的径向、周向和切变模量进行等效计算,采用铁木辛柯梁理论对车轮进行静力分析,计算结果与试验数据吻合;利用LS-DYNA对车轮落地碰撞进行仿真,分析了落地冲击能量消耗。对机器人的弹跳运动进行规划,弹跳越障试验表明机器人可直接越过或跃上障碍物,验证了机器人的弹跳运动能力。该弹跳机器人的研究为提高地面移动机器人的未知复杂地形适应能力提供了一种可行的技术方案。

关键词: 弹跳机器人, 弹跳驱动器, 蜂窝车轮, 燃气动力, 运动规划

Abstract: A hopping robot, powered by combustible gas mixture, is designed, which includes a hopping actuator and a wheeled locomotive structure. The actuator is characterized by a double-piston structure and a magnetic latch, which are beneficial to the volume reduction, reset and waste gas exclusion of the actuator. The wheeled structure consists of a vehicle body and honeycombed wheels. The vehicle body serves as the carrier of the hopping actuator, while wheels as landing buffer of the robot. The equivalent radial, tangential and shear modulus of wheels are calculated, and then Timoshenko Beam Theory is used for static analysis of wheels, and analytic results agree well with experimental data. The energy consumption of wheels during landing is obtained by landing collision simulation using LS-DYNA. The hopping locomotion of the robot is planned and hopping experiments show the robot can jump onto or over obstacles, and hopping ability of the robot is verified. This research provides a feasible technical scheme for improving the capability of field robots over unknown and complex terrains.

Key words: gas fuel-powered, honeycombed wheels, hopping actuator, hopping robot, motion planning

中图分类号:

TP242

左方睿, 王化明, 栾云广, 朱剑英, 王振, 黄青云. 燃气动力弹跳机器人的设计与试验研究[J]. 机械工程学报, 2016, 52(11): 19-21.

ZUO Fangrui, WANG Huaming, LUAN Yunguang, ZHU Jianying, WANG Zhen, HUANG Qingyun. On the Design and Experiments of a Gas Fuel-powered Hopping Robot[J]. Journal of Mechanical Engineering, 2016, 52(11): 19-21.

参考文献

[1] KOH D Y,KIM S H,KIM K. Design and modeling of an image stabilizing device for small unmanned ground vehicle[C]//Proceedings of 12th International Conference on Control,Automation and Systems (ICCAS),October 17-21,2012,Jeju Isaland,South Korea. Piscataway：IEEE,2012：2125-2130.
[2] LAURIA M,PIGUET Y,SIEGWART R. Octopus-an autonomous wheeled climbing robot[C]//Proceedings of the 5th International Conference on Climbing and Walking Robots,September 25-27,2002,Paris,France. London：Professional Engineering Publishing Limited,2002,315-322.
[3] HIROSE S,FUKUSHIMA E F,DAMOTO R,et al. Design of terrain adaptive versatile crawler vehicle HELIOS-VI[C]//Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29 - November 3,2001, Maui,USA. Piscataway：IEEE,2001：1540-1545.
[4] MICHAUD F,LETOURNEAU D,ARSENAULT M,et al. Multi-modal locomotion robotic platform using leg-track-wheel articulations[J]. Autonomous Robots,2005,18(2)：137-156.
[5] 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.
[6] BURDICK J,FIORINI P. Minimalist jumping robots for celestial exploration[J]. The International Journal of Robotics Research,2003,22(7-8)：653-674.
[7] KOVAC M,FUCHS M,GUIGNARD A,et al. A miniature 7g jumping robot[C]//Proceedings of the International Conference on Robotics and Automation (ICRA),May 19-23,2008,Pasadena,USA. Pasadena：IEEE,2008：373-378.
[8] 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.
[9] 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.
[10] 陈殿生,张自强,陈科位. 仿生蝗虫机构着陆缓冲过程中的能量分配[J]. 机械工程学报,2015,51(13)：196-202.
CHEN Diansheng,ZHANG Ziqiang,CHEN Kewei. Energy allocation in landing buffering process for biomimetic locust mechanism[J]. Journal of Mechanical Engineering,2015,51(13)：196-202.
[11] TSUKAGOSHI H,SASAKI M,KITAGAWA A,et al. Design of a higher jumping rescue robot with the optimized pneumatic drive[C]//Proceedings of the IEEE International Conference on Robotics and Automation(ICRA),April 18-22,2005,Barcelona,Spain. Pasadena：IEEE,2005：1276-1283.
[12] FISCHER G J. Wheeled hopping robot：USA,7775305[P]. 2010-08-17.
[13] WANG Huaming,LUAN Yunguang,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.
[14] LANCASTER D. Some energy fundamentals[J]. Blatant Opportunist,2002,71：1-7.
[15] MANESH A,TERCHA M J,MELISKA B,et al. Tension-based non-pneumatic tire：USA,0011506 A1[P]. 2011-09-20.
[16] GIBSON L J,ASHBY M F,SCHAJER G S,et al. The mechanics of two-dimensional cellular materials[J]. Proceedings of the Royal Society of London Mathematical and Physical Sciences,1982,382(1782)：25-42.
[17] 铁木辛柯,古地尔. 弹性理论[M]. 北京：高等教育出版社,2013.
TIMOSHENKO S P,GOODIER J N. Theory of Elasticity[M]. Beijing：Higher Education Press,2013.
[18] GASMI A,JOSEPH P F,RHYNE T B,et al. Closed-form solution of a shear deformable,extensional ring in contact between two rigid surfaces[J]. International Journal of Solids and Structures,2011,48(5)：843-853.
[19] GASMI A,JOSEPH P F,RHYNE T B,et al. Development of a two-dimensional model of a compliant non-pneumatic tire[J]. International Journal of Solids and Structures,2012,49(13)：1723-1740.
[20] 姚伟岸,钟万勰. 辛弹性力学[M]. 北京：高等教育出版社,2002.
YAO Weian,ZHONG Wanxie. Symplectic elasticity[M]. Beijing：Higher Education Press,2002.

燃气动力弹跳机器人的设计与试验研究

On the Design and Experiments of a Gas Fuel-powered Hopping Robot

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	杜国锋, 赵萌, 武建昫, 张东. 基于视觉的闭链多足机器人自主运动控制方法[J]. 机械工程学报, 2024, 60(19): 62-70.
[2]	关海杰, 王博洋, 龚建伟, 陈慧岩. 面向异构车辆的统一运动规划方法[J]. 机械工程学报, 2024, 60(18): 288-298.
[3]	王翔宇, 任帆, 刘冲, 许思昂, 王龙昕, 方勇纯, 于宁波, 韩建达. 面向NOTES手术的软镜操作机器人技术进展[J]. 机械工程学报, 2024, 60(17): 40-62.
[4]	高镇海, 于桐, 孙天骏. 考虑社会性行为的自动驾驶运动规划研究综述[J]. 机械工程学报, 2024, 60(10): 112-128.
[5]	郄天琪, 王伟达, 杨超, 李颖, 项昌乐. 面向分体式飞行汽车自主对接的自动驾驶底盘运动规划方法研究[J]. 机械工程学报, 2024, 60(10): 235-244.
[6]	赵锦涛, 李亮, 薛仲瑾, 张志煌. 基于混合A星的停车场内巡航分层运动规划方法[J]. 机械工程学报, 2023, 59(24): 290-298.
[7]	田大可, 郭振伟, 金路, 范小东, 刘荣强. 模块化可展天线机构展开动力学建模与运动规划[J]. 机械工程学报, 2023, 59(17): 56-66.
[8]	陈晋市, 张淼淼, 毕秋实, 李永奇, 霍东阳, 齐洪阳. 面向自主作业的挖掘机多目标最优挖掘运动规划[J]. 机械工程学报, 2022, 58(7): 237-245.
[9]	阳鑫, 唐小林, 杨凯, 徐正平, 胡晓松. 极限工况下无人驾驶车辆运动规划策略研究[J]. 机械工程学报, 2022, 58(22): 349-359.
[10]	赵子铭, 李晔卓, 姚燕安, 李锐明, 张倩倩. 6-URU支链四面体移动机构的越障步态规划[J]. 机械工程学报, 2021, 57(23): 85-96.
[11]	单开正, 于海涛, 韩亮亮, 王圣军, 李君, 高海波, 邓宗全. 近似直驱双足机器人跳跃运动非线性优化及试验验证[J]. 机械工程学报, 2021, 57(13): 153-162,171.
[12]	周坤, 李川, 李超, 朱秋国. 面向未知复杂地形的四足机器人运动规划方法[J]. 机械工程学报, 2020, 56(2): 210-219.
[13]	白有盾, 陈新, 杨志军. 考虑阻尼衰减的点位操作时间最优运动规划[J]. 机械工程学报, 2019, 55(5): 104-112.
[14]	关英姿, 刘文旭, 焉宁, 宋春林. 空间多机器人协同运动规划研究[J]. 机械工程学报, 2019, 55(12): 37-43.
[15]	王俊刚, 汤磊, 谷国迎, 朱向阳. 超冗余度机械臂跟随末端轨迹运动算法及其性能分析[J]. 机械工程学报, 2018, 54(3): 18-25.