爆发式驱动单足弹跳机器人机构优化设计

Optimized Design of Explosive Driving Single-leg Bouncing Robot Mechanism

本文设计了一种基于Stephenson六杆机构的新型单足弹跳机器人。建立了基于倒立摆系统的姿态控制方案;创新性地利用串联弹性驱动器(SEA)的被动柔性元件实现增大驱动器的瞬时功率;提出了基于内点法的非线性代数超越方程组的快速寻优方法,据此完成了弹跳机构杆长的优化设计,机构冲程/高度比为073。最后在专业机器人仿真平台Webots中,进行了机构的原地及前向连续弹跳仿真。仿真测试结果表明该弹跳机构可实现连续、稳定的垂直及前向跳跃:机器人最大弹跳垂直高度达34 m(机构高度的11倍);前向弹跳过程中,弹跳高度为30 m、前向弹跳速度为195 m/s;垂直弹跳时驱动器的瞬时峰值功率为电机额定功率的994倍,完全实现了爆发式驱动。为在复杂非结构化或低重力环境下的爆发式弹跳机器人研究做出了有益的探索。

This paper designs a new type of single-legged bouncing robot based on Stephenson six-bar mechanismAn attitude control scheme based on an inverted pendulum system is establishedThe passive flexible component of series flexible actuator(SEA)is innovatively used to increase the instantaneous power of actuatorAnd a fast optimization of nonlinear algebraic transcendental equations based on the interior point method is proposed.Accordingly,the optimization design of the rod length of the bouncing mechanism is completed,and mechanism stroke/height ratio is 073Finally,in the professional robot simulation platform Webots,the in-situ and forward continuous bounce simulation of the mechanism is carried outThe simulation test results show that the bouncing mechanism can achieve continuous and stable vertical and forward jumpingThe maximum vertical height of the robot bounce is 34 meters(11 times the height of the mechanism)During the forward bounce,the bounce height is 30 meters and the forward bounce speed is 195 m/sThe instantaneous peak power of the driver during vertical bounce is 994 times of the rated power of the motor,which fully realizes the explosive driveIt made a useful exploration for the research of explosive bouncing robots in complex unstructured or low gravity environments.