折叠翼弹跳机器人机构设计及运动性能分析

Mechanism Design and Locomotion Performance Analysis of the Foldable-wing Jumping Robot

为提高弹跳机器人的弹跳性能,解决弹跳机器人姿态调节和弹跳距离的问题,设计一种折叠翼弹跳机器人.通过调节多链弹跳机构的空间开链机构姿态实现对机器人弹跳朝向和起跳角的控制,研究折叠翼的滑翔下落特性增加机器人的弹跳距离.进行了姿态调整仿真和运动轨迹仿真,并在研制的折叠翼弹跳机器人样机上进行了弹跳运动实验.结果该样机显示出较高的弹跳性能.当起跳角度为80?时,弹跳高度约为0.98 m.当起跳角度为60?时,弹跳距离约为3 m,弹跳距离约为对比试验中无折叠翼弹跳机器人的1.7倍,但弹跳高度略低于无折叠翼弹跳机器人.折叠翼弹跳机器人具有良好的弹跳性能,能够完成地面上任何姿态的弹跳运动.

A foldable-wing jumping robot is designed in order to improve the jumping performance of jumping robot and solve the problem of the posture adjustment and the jumping distance. The jumping orientation and the take-off angle of robot are controlled by adjusting the posture of open-chain spatial mechanism of multi-chain jumping mechanism, meanwhile the downward gliding characteristics of the foldable-wing are studied to increase the jumping distance of the robot. Attitude adjustment simulation and trajectory simulation are carried out, and the jumping motion experiments are conducted on the prototype of the developed foldable-wing jumping robot. As a result, the robot prototype shows good jumping performances.The jump height is about 0.98 m, when the take-off angle is 80?. And when the take-off angle is 60?, the jump distance is about 3 m, which is about 1.7 times that of the jumping robot without foldable wings in comparative experiments, but the jump height is slightly lower than that of the jumping robot without foldable wings. The foldable-wing jumping robot is of good jumping performance and can complete jumping movements with any posture on the ground.