单足弹跳机器人弹跳机构设计与弹跳动力学分析

Jumping Machine Design and Dynamics Analysis of Hopping Robots

为了阐明弹跳机器人弹跳运动,包括弹跳的必要条件、弹跳高度等,基于仿生学原理、通过模仿青蛙的跳跃,本文设计并制作了一种结构简单、新颖的弹跳机构.通过将其简化成双质量弹簧模型,得出其能实现跳跃时弹簧所需储存的最小能量.在此基础上进一步推导出双质量弹簧系统在空中阶段质心和底座重心运动的规律.仿真结果表明,弹跳腿所能储存的能量超过其跳起的必要条件,从而进一步说明该设计是可行的.

In order to describe the robot＇s jump movement,including the necessary jumping conditions and the height of jump,this article describes a design of a hopping machine based on the principles of bionics which can jump like a frog. Its structure is simple and novel. By the geminate mass spring model from the hopping machine, the least energy for the hopping machine to jump can be calculated. Based on this result, the moving rules of the model＇s jump in sky are acquired, such as the rules of centroids of the geminate mass spring model and its pedestal. The result of emulational experiment illustrates that the energy contained by the hopping legs surpasses the necessary needed, so this means the design is feasible.