仿蟋蟀机器人跳跃运动学研究

Study on the jumping kinematics of the bionic cricket robot

基于对蟋蟀的身体结构及运动的研究,提出了仿蟋蟀机器人跳跃机构的分析模型,采用D-H法,建立了机器人着地阶段的运动学方程,给出了机器人在跳跃过程中的运动姿态及躯体质心的运动轨迹表达式,建立了机器人躯体质心与关节转角间的微分运动关系及速度分析方法。结合实例对机器人进行了运动学仿真并对结果进行讨论。研究结果与生物学实测结果相近,从而证明了仿生跳跃机构模型的可行性和运动分析方法的有效性。

Based on the study on the body configuration and the movement of a cricket,the analysis model of jumping mechanism for the bionic cricket robot was proposed,and the kinematics equations during robot landing stage were established by adopting the D-H method,the expression for the movement posture and trajectory of the center of mass of the robot＇s body during the jumping process were given,and differential movement relationship between the center of mass and the joint rotating angles of the robot as well as the velocity analysis method was established.The kinematics simulation of the robot was carried out by combining with instance as well as its result was discussed.The research results are similar to those from biological actual measurement.Therefore,the feasibility of the bionic jumping mechanism model and the effectiveness of the approach for kinematics analysis were proven.