Theo Jansen仿生腿研究及其机构优化设计

doi:10.3901/JME.2017.15.101

机械工程学报 ›› 2017, Vol. 53 ›› Issue (15): 101-109.doi: 10.3901/JME.2017.15.101

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Theo Jansen仿生腿研究及其机构优化设计

臧红彬^1,2, 沈连婠¹

1. 中国科学技术大学精密机械与精密仪器系合肥 230027;
2. 西南科技大学制造过程测试技术省部共建教育部重点实验室绵阳 621010

收稿日期:2016-08-23 修回日期:2017-05-03 出版日期:2017-08-05 发布日期:2017-08-05
通讯作者: 臧红彬(通信作者),男,1982年出生,博士研究生,副教授。主要研究方向为仿生机器人、机器人机构学。E-mail:zanghongb@163.com
作者简介:沈连婠,女,1946年出生,教授,博士研究生导师。主要研究方向为数字化设计、数值仿真等。E-mail:lgshen@ustc.edu.cn
基金资助:
国家自然科学基金（51375410，61401379）和西南科技大学制造过程测试技术省部共建教育部重点实验室团队项目基金（13zxzk09）资助项目。

Research and Optimization Design of Mechanism for Theo Jansen Bionic Leg

ZANG Hongbin^1,2, SHEN Lianguan¹

1. Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027;
2. Key Laboratory of Testing Technology for Manufacturing Process of Ministry of Education, Southwest University of Science and Technology, Mianyang 621010

Received:2016-08-23 Revised:2017-05-03 Online:2017-08-05 Published:2017-08-05

摘要/Abstract

摘要： 通过基于标准Theo Jansen仿生腿（Jansen-leg）机构研制出的小型仿生机器人实物样机的性能测试，发现该机构存在足端运动轨迹单一、地形适应性差等不足之处，针对此进行Jansen-leg机构的系统优化与革新设计。将双边测量中的距离方程应用于标准型仿生腿的运动学建模，作为机构优化中动态变换点的运动学分析的理论依据。通过可重构的优化设计方法，得到了能够适应趾行、避障、泥地、攀爬等运动的诸多新型足端运动轨迹模式。受到优化设计过程和结果的启发，在继承Jansen-leg机构优点的同时对其进行机构革新设计。设计的新机构不但具有很好的越障性、通过性、足端运动轨迹模态多样性，还具有控制简单、关节运动协调性好等诸多优点。提高了该机构对非结构地形环境的适应性，拓展了该机构的应用范围。

关键词: Jansen-leg, 革新设计, 机构优化, 双边测量距离方程, 足端运动轨迹

Abstract: Through the performance test of the small biomimetic robot prototype which is developed with the standard Theo Jansen bionic leg (Jansen-leg) mechanism, finding that it has some deficiencies, such as single foot motion trajectory and poor terrain adaptability, for which system optimization and innovation design is researched. As a theoretical analysis basis for optimizing the dynamic kinematics change point, the kinematic modeling of the standard Jansen-leg is established based on the bilateral distance measurement equations. Some novel gait patterns is got which can be used for digitigrades locomotion, obstacle avoidance, walking on mud and climbing by using the reconfigurable optimizing design approach. The innovative design of Jansen-leg mechanism is completed while inherited its advantages, inspired by the process and the results of optimizing design. The new Jansen-leg mechanism is not only has a better obstacle resistance, better ability of crossings irregular terrains and diverse foot motion trajectory patterns, but also with simple control, good coordination of the articulation and many other advantages. It also improves its adaptability of the unstructured terrain environment and expanding the application scope.

Key words: bilateration equation, foot motion trajectory, innovation design, Jansen-leg, optimization design of mechanism

中图分类号:

TP24

臧红彬, 沈连婠. Theo Jansen仿生腿研究及其机构优化设计[J]. 机械工程学报, 2017, 53(15): 101-109.

ZANG Hongbin, SHEN Lianguan. Research and Optimization Design of Mechanism for Theo Jansen Bionic Leg[J]. Journal of Mechanical Engineering, 2017, 53(15): 101-109.

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Theo Jansen仿生腿研究及其机构优化设计

Research and Optimization Design of Mechanism for Theo Jansen Bionic Leg

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