仿蝗虫跳跃机器人起跳过程运动学建模及分析

Kinematic modeling and analysis of the take-off procedure of locust-like hopping robot

根据蝗虫的身体构造及跳跃运动的特点,提出了仿蝗虫间歇跳跃机器人的机构模型。在建模时,将该模型抽象为平面刚性连杆机构,采用机器人运动学分析的D-H法,建立了各构件之间的运动学关系。基于跳跃运动的力学原理,采用关节轨迹规划的方法,分析了起跳过程中各杆件的位姿变化,并仿真了其起跳过程,证明了分析方法的可行性。研究了关键因素对跳跃性能的影响,为进一步分析及机器人的详细设计奠定了理论基础。

According to the body structure and jumping traits of locust,a prototype of Locust-like hopping robot was presented. A planar rigid linkage mechanism was abstracted from the prototype in analysis. The kinematic relations among all components were established through D-H method. Based on the mechanical principle of jumping and the method of trajectory planning,change of posture of all components were analyzed. The take-off process was simulated, which proved that this method was feasible. And the influence of key factors was researched. These results established a theory basis for further analysis and detailed design of the robot.