柔性轮式移动弹跳机器人设计与运动性能研究

Design and Motion Performance Analysis of a Flexible Wheeled Hopping Robot

为了提高机器人在复杂环境中的适应性能,解决弹跳机器人姿态调整和翻转复位的问题,设计一种柔性轮系机构与集弹跳、调姿和翻转复位一体的多链弹跳机构结合的柔性轮式移动弹跳机器人。运用柔性轮系机构实现机器人平坦路面快速稳定的移动,通过柔性轮的弹性变形消除弹跳运动的部分落地冲击力,并基于铁木辛柯梁理论对柔性轮进行受力变形分析。多链弹跳机构能实现机器人的弹跳运动、起跳角度调节和落地后翻转复位,具有单机构多功能的特点。设计了一种复合螺母机构,当复合螺母机构的螺母片闭合时,储能电机驱动丝杆转动实现机器人弹跳储能;当螺母片分离时,瞬间释放弹簧的弹性势能实现机器人的弹跳运动。运用ADAMS对机器人的姿态调整、弹跳运动和翻转复位进行仿真,研制柔性轮式弹跳机器人原理样机并进行弹跳运动实验,结果表明,该柔性轮式移动弹跳机器人的设计具有可行性。

In order to improve the adaptive problems of the posture adjustments and roll and capacity of the robot in a complex environment, solving the right itself of the hopping robot, a kind of flexible wheeled hopping robot which adopts flexible wheel train mechanism and the multi -chain hopping mechanisms with the ability of hopping, posture adjustments and roll and right itself is designed. Through control the flexible wheel train mechanism to implement fast moving of the robot on the fiat and level road, by using the elastic deforma- tion of flexible wheel to absorb the part impact of the landing when it hits the ground, and the deformation is an-alyzed which based on the Timoshenko beam theory for the flexible wheel. The robot bounce, takeoff angle ad- justment and roll and right itself after landing can be realized by the multi - chain hopping mechanism, and it has the characteristics of single mechanism have multi - function. A kind of composite nut mechanism is de- signed. The motor of storage energy drive the screw rotation to realize the robot storage energy after the nut is closed. The elastic potential energy of spring release instantaneously when the nut is separated to achieve the hopping motion of the robot. The simulation of the posture adjustment, hopping motion and roll and right itself of robot is carried out by using the ADAMS. A prototype is developed, and the prototype test shows that the de- sign of flexible wheeled hopping robot has the feasibility.