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根据袋鼠的生物结构特征,建立了具有柔性脚的仿袋鼠跳跃机器人的刚柔混合模型。利用柔性机构易于实现连续光滑变形及质量轻,易于控制等特性,将其应用于仿生跳跃机器人领域,来实现跳跃机器人在不同跳跃速度下的脚部轮廓变形。文中根据跳跃机器人在不同跳跃速度下的脚部轮廓曲线,以连续体结构拓扑优化为出发点,建立多目标优化函数,采用移动渐近线法,实现脚部的拓扑结构优化。结合实例仿真结果表明:具有柔性变形能力的柔性脚有助于提高机器人在着地过程中的落地稳定性,增大起跳时间和调整起跳角度,并有效地起到缓冲和储能作用。
According to the biological characteristics of kangaroo, a rigid-flexible hybrid model of kangaroo hopping robot with flexible feet was established. The flexible mechanism is easy to realize continuous smooth deformation and light weight, easy to control and so on, which is applied in the field of bionic jumping robot to realize the deformation of the foot contour of jumping robot at different jumping speeds. In this paper, according to the foot contour curve of jumping robot at different jumping speeds, taking the topological optimization of continuum structure as the starting point, a multi-objective optimization function is established, and the moving asymptotic method is adopted to realize the topology optimization of the foot. The simulation results show that the flexible feet with flexible deformation help to improve the landing stability of the robot during landing, increase the take-off time and adjust the take-off angle, and effectively play the role of cushioning and energy storage.