跳跑式微型弹跳机器人的设计与实现

Design and Realization of Miniature Hopping Robots with Running Jump

微型弹跳机器人在不规则环境中作业如地震救灾中有着特殊重要作用。设计了一种新颖的跳跑式微型弹跳机器人,提出了一种实用有效的储能-驱动机构。储能-驱动机构以舵机为驱动器,带动不完全齿轮,齿轮拉动钢丝绳作用于弹簧钢片来实现机器人的储能-弹跳。机器人通过电机驱动小车轮实现快速跑动。详细介绍了整个机器人的机械结构设计以及弹跳运动和跑动运动的实现。经测试,该机器人的弹跳运动灵活,与轮式快速跑动结合,提高了适应环境的能力和运动效率。该机器人结构简单、易于控制、稳定可靠,具有良好的应用前景。

The miniature hopping robots play important role in the irregular environment, such as the relief of the victims in the earthquake. A kind of burgeoning miniature hopping robots with running jump is designed and a mechanism which can be used to store energy and drive practicably and effectively is presented. This mechanism takes the rudder servo as actuator and drives the intermittent gear. With the function of the spring piece that pulled by the steel wire, the energy storage and the jump of the robots can be realized. The robots can run fast with the help of two small wheels driven by motor. The design of the mechanism and the realization of the hopping movement and running movement are introduced in detail. In the test, the robot＇ s hopping movement is flexible. The combination of hopping movement and wheeled running movement can greatly enhance the ability to adapt to the environment and the efficiency of movement. The structure of the robot with good application prospect is very simple, stable, reliable and easy to control.