一种具有弹跳功能的翻滚式机器人设计与实现

Design and Implementation of a Tumbling Robot with Jumping Capability

设计了具有弹跳功能的翻滚式机器人——Tumbot.Tumbot以翻滚运动为主,弹跳运动为辅.其本体为不规则四边形,长12.5cm,宽6cm,高4cm,质量约275g.侧面有2个11cm长的翻转臂,用于实现翻滚运动.弹跳储能机构采用改进的六杆式齿轮机构,可同时加载4根扭簧和2根拉簧,弹跳释放机构采用缺齿轮来瞬间释放储存的弹性势能.机器人上下结构对称,不需要复位机构就可以实现连续弹跳运动,并可以利用翻滚机构调节弹跳方向和起跳角度.进行了机器人机构设计、受力分析、仿真和实验研究.实验结果验证了Tumbot适用于崎岖复杂地形的基本运动能力和越障能力,其直线行进速度为7.04cm/s,可以翻越3.5cm的台阶,最大弹跳高度为51cm.

A tumbling robot named Tumbot with jumping capability is designed. Tumbot moves mainly depending on tumbling with jumping as an auxiliary locomotion pattern. It is a small irregular trapezoidal robot which is 12.5 cm long, 12 cm wide, 4 cm high, and about 275 g in weight. It has two 11cm long arms on its left and right sides respectively for achieving tumbling locomotion. An improved six-bar gear mechanism is adopted to store elastic energy, which can load four torsion springs and two tension springs. The robot jumps when the stored energy is released by an incomplete gear of the gearbox. The body of the robot is symmetrical at both ends which enables continuous jumping locomotion with no need of self-righting mechanism. The tumbling mechanism also can be used to adjust the jumping direction and takeoff angle of the robot. The mechanism design, force analysis, simulations, and experiments have been done. Experimental results show that Tumbot can move forward at a speed of 7.04 cm/s, crawl over the 3.5 cm high step. Its maximum jumping height is 51 cm. The basic locomotion capabilities of the robot prove to be effective for rough terrain.