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腿部结构是实现仿生蝗虫跳跃机器人良好缓冲性能的重要组成部分,因此对其进行结构设计及分析具有重要的意义。为实现更好的着陆缓冲性能,基于蝗虫腿部生理结构和现有仿生串联腿的结构形式,设计了一种新型的用于跳跃机器人的缓冲腿。在对缓冲腿的力学性能进行分析的基础上,根据缓冲性能评价原则,对结构参数进行了分析及优化,并对同时处于最优状态下的新型缓冲腿和原有仿生串联缓冲腿的缓冲性能进行分析比较。相对于原有仿生串联缓冲腿,改进后的新型缓冲腿受到地面作用力的幅值减小了25.3%,储能能力提高了34.6%。这为仿生蝗虫跳跃机器人及其他着陆机构的研制提供了依据。
The leg structure is an important part of the good cushioning performance of bionic locust jumping robot, so it is of great significance to carry out structural design and analysis. In order to achieve better landing cushioning performance, a new type of leg for jumping robot was designed based on the structure of locust leg physiology and the existing bionic tandem legs. Based on the analysis of the mechanical properties of the cushioning legs, the structural parameters were analyzed and optimized according to the evaluation principle of cushioning performance, and the cushioning performance of the new type of cushioning legs and the original bionic series cushioning legs For analysis and comparison. Compared with the original bionic tandem legs, the improved new bumper legs reduced the amplitude of ground force by 25.3% and the energy storage capacity by 34.6%. This provides a basis for the development of bionic locust jumping robots and other landing agencies.