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燃气动力弹跳机器人具有很强的越障能力,但不同特性地面对其弹跳性能影响较大。针对上述问题,对燃气动力弹跳机器人起跳过程的动力学模型进行理论与试验分析。首先建立了机器人起跳动力学模型,利用Hunt-Crossley模型对机器人脚与地面的作用力进行分析;然后构建试验平台,对模拟硬黏土、草地进行静态、动态力学特性测试,得到相应的力学参数;最后对弹跳机构在刚性地面、模拟硬黏土和模拟草地分别进行弹跳分析与试验。在一定充气压力条件下(丙烷0.01 MPa、一氧化二氮0.21 MPa)燃烧室内燃后压力基本相同(最大压力约3.1 MPa),而弹跳机构(总重为3.55 kg)在刚性地面和硬黏土地面的弹跳高度分别为2.0 m和1.4 m,在草地地面相对充气压力为0 MPa条件下,其弹跳高度为0.1 m。结果表明,机器人在松软的地面较刚性地面弹跳高度较低,且模拟3种地面的弹跳试验结果与分析结果较为吻合。
Gas powered bounce robot has a strong obstacle obstacle ability, but different characteristics of its bounce performance impact. In response to the above problems, theoretical and experimental analysis of the dynamic model of take-off process of gas powered bouncing robot is carried out. Firstly, the dynamic model of robot take-off was established, and the force of robot foot and ground was analyzed by Hunt-Crossley model. Then, a test platform was built to test the static and dynamic mechanical properties of simulated hard clay and grassland, and the corresponding mechanical parameters were obtained. Finally, bounce analysis and experiment on bounced body on rigid ground, simulated hard clay and simulated grassland respectively. Under a certain inflation pressure (propane 0.01 MPa, nitrous oxide 0.21 MPa), the post-combustion pressures in the combustion chamber are basically the same (maximum pressure is about 3.1 MPa), while the bounce mechanism (total weight 3.55 kg) is on rigid and hard clay surfaces The bouncing heights are 2.0 m and 1.4 m, respectively. The bouncing height is 0.1 m when the relative inflated pressure is 0 MPa on the grass surface. The results show that the bouncing height of the robot on a soft ground is lower than that on a rigid ground, and the bounce test results of three kinds of ground simulations are in good agreement with the analysis results.