摘要
研究了水上行走机器人支撑腿形状设计与布局问题.首先将支撑腿视为欧拉-伯努利弹性曲梁,通过对其柔性变形的几何分析与应力应变分析,提出了一种支撑腿形状优化设计方法,方法的目标是获得最大支撑力.对方法的正确性和有效性进行了仿真和实验验证.其次通过分析支撑腿间距对支撑力的影响,以及支撑腿布局与机器人抗翻转能力的关系,提出支撑腿布局的设计方法.针对采用10条支撑腿的Water DancerⅡ-a机器人,给出了一种满足要求的布局方案.
The problems of shape design and position arrangement for water strider robot＇s supporting legs are discussed. Firstly,the supporting leg is regarded as Euler-Bernoulli elastic curved beam and a method for designing its optimal shape is proposed by analyzing its geometric flexible deformation and stress-strain.The objective of the optimal method is to attain the maximum supporting force.The effectiveness and validity are verified through simulations and an experiment. Secondly,a method for arranging the supporting legs on the robot body is proposed by analyzing the influence of supporting legs＇ spacing on supporting force,and study the relation between supporting legs＇ position arrangement and robot＇s rolling-resistant capability.A layout scheme for the Water DancerⅡ-a with ten supporting legs is designed,which satisfies the requirements.
出处
《机器人》
EI
CSCD
北大核心
2011年第5期513-518,共6页
Robot
基金
中央高校基本科研业务费专项资金资助项目(0910KYZY52
0910KYZD05)
北京市教委共建项目建设计划科学研究与科研基地建设项目(104-00102211)
教育部科学技术研究重点项目(211212)
国家自然科学基金资助项目(60875062
61004023)
关键词
水上行走机器人
支撑腿
优化设计
布局
弹性曲梁
water strider robot
supporting leg
optimal design
layout
elastic curved beam
