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对一种仿生弹跳机器人——SEUJumper——的离散和连续运动进行研究,建立了折叠式和展开式两种落地摔倒后自复位方法模型,仿真分析了两者的运动性能,建立了离散式和连续式航向调节方法模型,比较了两种模型的优缺点.设计了自复位和航向调节的机构模型,实现了样机制作,并分别在平整实验台和崎岖草地环境中对两种自复位方法和两种航向调节方法进行了测试.实验结果表明,所设计的机构都能完成机器人在平整表面的自复位和航向调节,而只有展开式自复位和连续式航向调节机构可以分别实现在粗糙表面的自复位和航向调节,即在整体离散弹跳运动中加入局部连续运动能提高SEUJumper在室外崎岖环境中的运动性能,从而说明充分考虑离散和连续运动的协作设计思路能够增强机器人在非结构化环境中的适用性.
The discrete and continuous motion of a bounce robot, SEUJumper, is studied. Two folded and unfolded self-resetting models after landing fall are established. The motion performance of the two models is simulated and analyzed, and the discrete And the continuous course adjustment method model, the advantages and disadvantages of the two models are compared.The mechanism models of self-resetting and heading adjustment are designed and prototype production is realized, and two kinds of self-resetting methods are respectively applied in the leveling bench and the rough grassland environment And the two heading adjustment methods were tested.The experimental results show that the designed mechanism can complete the self-resetting and heading adjustment of the robot on the flat surface, while only the self-resetting unfolded and the continuous course adjustment mechanism can realize the self- Self-resetting and heading adjustment, that is, adding local continuous motion to the overall discrete bouncing motion can improve SEUJumper’s motion performance in outdoor rugged environment, which indicates that the collaborative design idea that fully considers discrete and continuous motion can enhance the robot’s performance in unstructured environment In the applicability.