...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Bioinspiration & biomimetics >Froghopper-inspired direction-changing concept for miniature jumping robots
【24h】

Froghopper-inspired direction-changing concept for miniature jumping robots

机译：Froghopper启发的微型跳跃机器人的转向概念

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

To improve the maneuverability and agility of jumping robots, several researchers have studied steerable jumping mechanisms. This steering ability enables robots to reach a particular target by controlling their jumping direction. To this end, we propose a novel direction-changing concept for miniature jumping robots. The proposed concept allows robots to be steerable while exerting minimal effects on jumping performance. The key design principles were adopted from the froghopper's power-producing hind legs and the moment cancellation accomplished by synchronized leg operation. These principles were applied via a pair of symmetrically positioned legs and conventional gears, which were modeled on the froghopper's anatomy. Each leg has its own thrusting energy, which improves jumping performance by allowing the mechanism to thrust itself with both power-producing legs. Conventional gears were utilized to simultaneously operate the legs and cancel out the moments that they induce, which minimizes body spin. A prototype to verify the concept was built and tested by varying the initial jumping posture. Three jumping postures (synchronous, asynchronous, and single-legged) were tested to investigate how synchronization and moment cancelling affect jumping performance. The results show that synchronous jumping allows the mechanism to change direction from -40 degrees to 40 degrees, with an improved take-off speed. The proposed concept can only be steered in a limited range of directions, but it has potential for use in miniature jumping robots that can change jumping direction with a minimal drop in jumping performance.
机译：为了提高跳跃机器人的可操纵性和敏捷性，一些研究人员研究了可操纵的跳跃机制。这种转向能力使机器人可以通过控制其跳跃方向来达到特定目标。为此，我们提出了一种用于微型跳跃机器人的新颖的转向概念。提出的概念使机器人可以操纵，同时对跳跃性能的影响最小。关键的设计原则是从蛙蛙的后腿产生的能量中采用的，并且通过同步腿部操作来消除力矩。这些原理是通过一对对称放置的腿和传统的齿轮来应用的，它们是根据蛙蛙的解剖学建模的。每条腿都有自己的推动力，通过使该机制用两个发电腿来推动自己，可以提高跳跃性能。常规齿轮用于同时操作腿部和抵消腿部引起的力矩，从而最大程度地减少了身体的旋转。通过改变初始跳跃姿势构建并测试了验证该概念的原型。测试了三个跳跃姿势（同步，异步和单腿），以研究同步和抵消力矩如何影响跳跃性能。结果表明，同步跳跃使该机构可以将方向从-40度更改为40度，并提高了起飞速度。所提出的概念只能在有限的方向范围内进行操纵，但是它有潜力用于微型跳跃机器人中，该机器人可以以最小的跳跃性能下降来改变跳跃方向。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号