仿蝗虫跳跃机器人的后腿跳跃机械结构设计

摘要

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。%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 15 KN 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.