基于起跳稳定性的仿蝗虫八杆跳跃机器人设计

doi:10.3901/JME.2023.05.041

机械工程学报 ›› 2023, Vol. 59 ›› Issue (5): 41-52.doi: 10.3901/JME.2023.05.041

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基于起跳稳定性的仿蝗虫八杆跳跃机器人设计

莫小娟¹, 葛文杰¹, 任逸飞¹, 赵东来¹, 魏敦文²

1. 西北工业大学机电学院西安 710072;
2. 电子科技大学机械与电气工程学院成都 611731

收稿日期:2022-04-04 修回日期:2022-11-14 出版日期:2023-03-05 发布日期:2023-04-20
通讯作者: 葛文杰(通信作者),男,1956年出生,博士,教授,博士研究生导师。主要研究方向为仿生跳跃机器人和柔性机翼拓扑优化。E-mail:gwj@nwpu.edu.cn
作者简介:莫小娟,女,1992年出生,博士。主要研究方向为仿生跳跃机器人和软体外骨骼机器人。E-mail:momo152562@mail.nwpu.edu.cn;任逸飞,男,1998年出生,硕士研究生。主要研究方向为跳跃机器人和多运动模式机器人。E-mail:yifei_ren@mail.nwpu.edu.cn;赵东来,男,1989年出生,博士研究生。主要研究方向为液压驱动跳跃机器人和爬壁机器人。E-mail:dl_zhao@mail.nwpu.edu.cn;魏敦文,男,1986年出生,博士,副教授。主要研究方向为仿生机器人,医疗康复机器人,机器人机构学及控制。E-mail:weidunwen@uestc.edu.cn
基金资助:
国家重点研发计划(2017YFB1300101)、国家自然科学基金(52275282, 51705066)和四川省自然科学基金(2022NSFSC1960)资助项目。

Design of Locust-inspired Eight-bar Jumping Robot Based on Take-off Stability

MO Xiaojuan¹, GE Wenjie¹, REN Yifei¹, ZHAO Donglai¹, WEI Dunwen²

1. School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072;
2. School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731

Received:2022-04-04 Revised:2022-11-14 Online:2023-03-05 Published:2023-04-20

摘要/Abstract

摘要： 通过模仿蝗虫起跳过程中的后足胫节末端的直线运动轨迹和起跳稳定性，提出了一种仿蝗虫八杆跳跃机器人设计方法。建立运动学模型并利用天牛须搜索算法对机构的尺寸参数进行优化设计，优化后的八杆跳跃机构的等效胫节末端轨迹和蝗虫后足胫节起跳过程的末端轨迹吻合，基本为一条斜直线。基于拉格朗日方程对八杆跳跃机构的起跳动力学进行建模，并分析了身体所在杆的质心位置对起跳过程的影响，发现通过增大等效跗节杆的质量能提高起跳动力学稳定性。根据运动学和动力学分析的结果，设计了仿蝗虫八杆跳跃机器人，并利用高速摄像机搭建实验平台记录其起跳过程，验证了等效跗节杆的质量对起跳动力学稳定性具备有效的调节效果。

关键词: 仿蝗虫, 直线轨迹, 动力学稳定性, 八杆跳跃机构, 拉格朗日方程

Abstract: A locust-inspired eight-bar jumping robot design method is proposed in order to mimic the straight-line trajectory of the tarsus end of locusts’ hindleg during take-off and jumping stability. The dimensional parameters are optimized based on beetle antennae search algorithm (BAS) and established kinematic model. The trajectory of the equal tarsus end of the optimized eight-bar jumping mechanism is very similar to the one of locusts, close to a straight line. The dynamic model of eight-bar jumping mechanism is established using lagrange equation, and the influence of the centroid location of equivalent body bar on the take-off performance is analyzed. It is found that increasing the mass of the equivalent tarsus bar is helpful to obtain better dynamic stability during take-off. Based on the results of kinematic and dynamic analysis result, a locust-inspired eight-bar jumping robot is designed and fabricated, and the high-speed camera is used to build an experimental platform to record its take-off process. It is verified that the mass of the equivalent tarsus bar has an effective adjustment effect on the dynamic stability of the take-off.

Key words: locust-inspired, straight-line trajectory, take-off stability, eight-bar jumping mechanism, Lagrange equation

中图分类号:

TP242

莫小娟, 葛文杰, 任逸飞, 赵东来, 魏敦文. 基于起跳稳定性的仿蝗虫八杆跳跃机器人设计[J]. 机械工程学报, 2023, 59(5): 41-52.

MO Xiaojuan, GE Wenjie, REN Yifei, ZHAO Donglai, WEI Dunwen. Design of Locust-inspired Eight-bar Jumping Robot Based on Take-off Stability[J]. Journal of Mechanical Engineering, 2023, 59(5): 41-52.

参考文献

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[16] MO X,GE W,ZHAO D,et al. Path and function synthesis of multi-bar mechanisms using beetle antennae search algorithm[J]. Filomat,2020,34(15):5215-5233.

基于起跳稳定性的仿蝗虫八杆跳跃机器人设计

Design of Locust-inspired Eight-bar Jumping Robot Based on Take-off Stability

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