仿猫腿部跳跃机构设计与仿真分析

Design and Simulation Analysis of Bionic Cat Leg Jumping Mechanism

为研究在复杂背景条件下,机器人的移动及越过地形障碍的能力,在动物运动的仿生研究及对猫科动物的观察研究的基础上,设计了一种仿猫跳跃机器人跳跃机构。通过驱动电动机提供运动动力,机器人机构具有储存能量、释放能量的功能,从而实现跳跃运动。通过对仿真结果的分析,检验机构是否能够合理地实现跳跃功能。在建立理论模型基础上,对机构的跳跃运动进行MATLAB仿真,以实现模拟猫跳跃的目的。同时通过分析起跳时各关节角度变化,验证起跳姿态与跳跃稳定性的关系。使用ADAMS建立虚拟样机进行跳跃过程仿真,通过对仿真结果分析,验证了所设计机构的可行性。建立仿猫跳跃机器人原理样机并进行跳跃运动仿真分析。结果表明,该仿猫跳跃机器人的机构设计具有可行性,跳跃高度的控制可通过改变起跳位姿和驱动能量实现,从而为跳跃机器人起跳姿态及仿生机器人研究提供了一种方案。

In order to study the robot's ability to move and cross terrain obstacles under complex background conditions,a bionic cat jumping robot's jumping mechanism is designed based on the bionic research of animal movement and observation of cats.The motion power is provided by the motor,and the robot mechanism has the functions of storing energy and releasing energy,so as to realize jumping movement.Through the analysis of the simulation results,it is tested whether the mechanism can reasonably realize the jump function.Based on the establishment of a theoretical model,MATLAB simulation of the mechanism's jumping motion is carried out to achieve the purpose of simulating cat jumping.By analyzing the angle change of each joint during takeoff,the relationship between takeoff posture and jump stability is verified.ADAMS is used to build a virtual prototype to simulate the jump process.The analysis of the simulation results verifies the feasibility of the designed mechanism.The principle prototype of cat-like jumping robot is established and the simulation analysis of jumping motion is carried out.The results show that the mechanism design of the bionic cat jumping robot is feasible.The control of the jumping height can be achieved by changing the take-off posture and driving energy,thus providing a solution for the jumping posture and bionic robot research.