仿生机器人所展现出的特有功能与广泛应用前景,越来越成为工程界的研究热点.依据蝗虫身体结构特点,采用齿轮、凸轮传动,弹簧储能等机构部件,构建仿蝗虫跳跃机器人模型.在膝、踝关节加装扭簧变为柔性关节,运用RECURDYN软件进行多体动力学仿真,运用ANSYS对跳跃结构进行受力分析和模态分析.仿真结果分析表明:柔性关节的引入,增加结构稳定性,可提高膝关节驱动力,跳跃腾空高度达到自身尺寸的7倍左右.此外,通过模态分析,可确定胫节与跗节在低阶模态振型下的固有频率.此研究对仿蝗虫跳跃机器人机构的柔性化因素对跳跃效果的影响有理论借鉴作用,为下一步优化系统结构,提高可靠性奠定基础.%Bionic robot exhibits unique features with a wide range of application,more and more attention has been made in the field of engineering.According to the characteristics of the locust body structure,the model of the locusts hopping robot is constructed by using gear,cam drive and spring energy storage.Add a twisting spring on the knee and ankle joint to make it a flexible joint,multi-body dynamics simulation is carried out by using RECURDYN software,and ANSYS is applied to do the stress analysis and modal analysis of the jumping structure.The simulation results show that the introduction of flexible joints can increase the stability of the structure,improve the driving force of the knee joint,and the height of the jump is 7 times that of the self size.Furthermore,tibia and tarsus natural frequency in the low-order mode shapes under modal analysis could be determined. The result of the locust-like hopping robot can be seen as theoretical reference for effect of hopping factors caused by flexibility and lay the foundation improving reliability for further optimization of the system structure.
展开▼
