基于弹尾虫运动机制的平衡轮式跳跃机器人的设计

Design of Balanced Wheeled Jumping Robot Based on the Motion Mechanism of Springtail

针对弹尾虫的生物体结构与运动特性,复合轮式与跳跃运动设计了一种新型跳跃机器人。利用弹尾虫独特的跳跃运动机制设计了跳跃原理结构,并使用拉格朗日法完成跳跃原理结构着地起跳、腾空阶段动力学方程的构建与仿真,分析并验证了跳跃过程及跳跃原理的可行性。通过轮式结构的复合设计,使得机器人具备平衡轮式移动特性,展现跳跃原理结构的可移植性。搭建机器人控制系统,使用3D打印技术完成样机制作,最终设计机器人长15cm、宽9.5cm、高7.5cm,整体重268.6g。试验测试表明,机器人具备快速连续运动性能,1s内完成能量蓄积与释放,0.5s内实现姿态复位;具备多运动模式,可实现高20cm、远15cm的跳跃动作,同时可完成跳跃后的姿态复位,平衡轮式移动以及传统平衡小车难以实现的倒地后自主平衡复位。

A new type of jumping robot is designed according to the biological structure and motion characteristics of the springtail,combined with wheel and jumping motion.The principlem echanism of jumping is designed by imitating the unique jumping mechanism of the springtail,and the dynamics equation of jumping mechanism in take-off and flight phase are built by Lagrange method and the model is simulated to verify the feasibility of the jumping principle.Through the composite design of wheel structure,the robot has the characteristics of balanced wheel movement,which reflects the portability of jumping mechanism.The robot control system was built,and the prototype was made by using 3D printing technology.The overall length,width,height and weight of the system were 15 cm,9.5 cm,7.5 cm and 268.6 g respectively.Experiments show that the robot has fast and continuous motion performance,energy storage and release can be completed in 1 s,and posture reset can be achieved in 1.5 s.With multi-motion mode,it can achieve the jump action of 20 cm high and 15 cm far,at the same time,it can complete the posture reset after jumping,balance wheeled movement,and self-balancing reset after falling down which is difficult to achieve by traditional balance car.