仿蝗虫跳跃机器人的后腿跳跃机械结构设计 徐成宇.docxVIP

仿蝗虫跳跃机器人的后腿跳跃机械结构设计 徐成宇 仿蝗虫跳跃机器人的后腿跳跃机械结构设计lowbar;徐成宇 第39卷第4期长春理工大学学报（自然科学版） Journal of Changchun University of Science and Technology （Natural Science Edition ） Vol.39No.4仿蝗虫跳跃机器人的后腿跳跃机械结构设计 徐成宇，朱人杰，张宝庆，曹晓捷，张连青，袁慧静，熊梦强 （长春理工大学 机电工程学院，长春130022） 要：依据蝗虫身体结构及其运动特点，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三维模 型。用摆动从动件凸轮的柔性膝关节模拟半月板的能力释放，建立了以基圆半径最小作为优化目标，按压力角优化的数学模型，确定了仿蝗虫机器人后腿跳跃机构尺寸。仿真结果表明：通过MATLAB 绘制凸轮的理论与实际廓线，使体积在优化后降低了22%，通过ADAMS 的接触应力分析，确定了凸轮副最大承载力不应低于15KN 。此设计研究确定了仿蝗虫机器人的后腿跳跃机械结构尺寸，减小蓄力凸轮体积，为其下一步系统结构优化设计奠定基础。关键词：仿蝗虫机器人；凸轮廓线优化；柔性膝关节；ADAMS ；MATLAB 中图分类号： 文献标识码：A 文章编号：1672-9870（2021）04-0067-06 Research on the Driving Characteristics of the Take-off Procedure and Modelling of Locust-like Hopping Robot XU Chengyu ，ZHU Renjie ，ZHANG Baoqing ，CAO Xiaojie ，ZHANG Lianqing ，YUAN Huijing ，XIONG Mengqiang （School of Mechatronic Engineering ，Changchun University of Science and Technology ，Changchun 130022） Abstract ：According to the body structure and movement characteristics of locust ，adopting gears ，cam transmissions and institutions such as the spring energy storage components ，a 3D prototype of locust-like hopping robot is present-ed. In order to simulating the meniscus to release the power by using oscillating follower cam flexible knee joint ，a mathematical model for optimizing pressure angle is established to minimize the radius of base circle. Finally the jump-ing mechanism size of locust-like robot ’s hind legs is determined. The simulation results shows that ：drawing the theo-retic contour line and actual contour line through MATLAB reduces the volume of cam by 22%，the cam ’s maximum bearing capacity no less than 15KN is determined by the ADAMS analysis of the contact stress. This design research has identified the jumping mechanism size of locust-like robot ’s hind legs ，decreased the volume of collected-power cam ，and provided basis for system construction optimal design in next step. Key words ：locust