基于多层嵌套结构的仿生弹射机器人研究

Research on biomimetic ejection robot based on multi-layer nested structure

避役捕食过程中舌头瞬间释放巨大的能量,以高达500 m/s^2的加速度弹射伸长至身体长度2倍的距离。受避役弹舌运动以及其舌器官生理结构的启发,提出一种模拟避役舌弹射能力的仿生弹射机器人。首先,分析避役舌器官的构成以及其高速弹射的运动机理,建立弹射机构的简化物理模型,并进行基于MATLAB软件的动力学仿真分析;其次,基于多层弹性体嵌套结构建立弹射机器人的三维结构模型,应用Solid Works软件进行结构的运动学仿真分析;最后,完成该机器人样机的零件加工、组装和调试,并进行样机弹射试验。通过试验数据的采集处理,与仿真结果进行对比分析发现:该弹射机器人的弹射加速度能达到6 653 m/s^2,最大弹射速度达到15 m/s,且最大伸展距离约为0. 44 m,为初始状态的2. 6倍。结果表明该仿生弹射机器人的弹射速度和加速度都较高,验证了仿生弹射机器人结构设计的有效性。

The chameleon tongue releases tremendous energy in the process of predation which ejaculates at an acceleration of up to 500 m/s^2 to a distance of 2 times the length of the body. Inspired by the ejection movement and the physiological structure of the chameleon tongue organ,a bionic-ejection robot capable of simulating the ejection ability of chameleon tongue was proposed.Firstly,the composition of the chameleon tongue organ and its high-speed ejection mechanism were analyzed,and a simplified physical model of the ejection mechanism was established,and a dynamic simulation analysis based on MATLAB software was performed. Then a 3D structural model of ejection robot was built based on the multi-layer elastic nested structure,and the kinematics simulation analysis of the structure was performed by using Solid Works software. Finally,the parts processing,assembly and debugging of the robot prototype were completed,and the ejection experiments on the prototype were performed. Through the collection and processing of experimental data and comparison with the simulation results,it is found that the ejection acceleration of the ejection robot can reach 6 653 m/s^2,the maximum ejection speed reaches 15 m/s,and the maximum extension distance is about 0. 44 m,which is 2. 6 times of the initial state. The results show that the bionic ejection robot proposed has high ejection speed and acceleration,which verifies the effectiveness of the structural design of the bionic ejection robot.