仿青蛙变体移动机器人设计与分析

Design and Analysis of Frog-inspired Biomimetic Variant Robot

基于青蛙优异两栖运动能力的研究,提出一种可以实现陆地跳跃模式和水中蛙泳模式转换的双模式仿青蛙机器人设计方案,设计出适用于机器人变体移动的跳跃执行机构、触发机构、复位机构、变体机构等可行有效的机构并进行运动分析与仿真.用MATLAB编写运动学仿真程序验证跳跃执行机构与实际中青蛙跳跃规律的一致性,并在Pro/ENGINEER和ADAMS中进行运动学和动力学建模与仿真.本设计方案使机器人集陆上跳跃能力和水中游动能力于一身,拥有极强的环境适应性.

This study puts forward a scheme of a kind of frog-inspired biomimetic variant robot that can transform jumping mode on land to breaststroke mode in water, which is based on the research of the excellent amphibian exercise capacity of frog. Kinematic analysis and simulation is performed with this effective design concerning such mechanisms as jumping, trigger, reset and transformation that are suitable for variant robots. Mechanism simulation program is written with MATLAB to verify the consistency of the simulation result with the law of motion in practice. Kinematic and dynamic modeling and simulation are performed in Pro/ENGINEER and ADAMS. This design enables the robot to jump on land and swim in water with extremely strong environmental adaptability.