弹跳机器人翻转机构的设计与优化

The Design and Optimization of a Hopping Robot's Tipping Mechanism

为了提高弹跳机器人的地面适应性,解决弹跳机器人落地后的翻转问题,从蝗虫和龟类的翻转研究中得到启示,设计结构简便、易于控制、集支撑与翻转功能为一体的翻转机构。应用三角重心理论,分析机器人翻转的原理和翻转过程。在仿真的基础上,对翻转机构进行构型和尺寸优化,保证机器人结构紧凑,轻量化和较高的电动机利用率。搭建翻转机构平台,验证了翻转机构原理的可行性和优化设计的正确性,为弹跳机器人进一步的创新研究提供了理论基础和依据。

In order to improve hopping robots＇ ground adaptability and solve the overturn problem after hopping robots＇ landing on the ground,a kind of tipping mechanism is designed from the research of locust and sea turtle＇s tipping process.It features simple structure,easy control,and integration of supporting and tipping functions.The triangle and centre of gravity theory is used to analyze the robots＇ tipping principle and process.Based on simulation,tipping mechanism is optimized in configuration and dimension to guarantee the robot with compact structure,light weight and high motor utilization ratio.The tipping mechanism platform is set up to verify the feasibility of the principle and the correctness of optimization design of the tipping mechanism,thus providing the theoretical basis for the further innovation research on hopping robots.