| 水上行走机器人支撑腿的设计与布局 |
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| 引用本文： | 吴立成,连志鹏,袁海斌,王淑慧,杨国胜. 水上行走机器人支撑腿的设计与布局[J]. 机器人, 2011, 33(5): 513-518. DOI: 10.3724/SP.J.1218.2011.00513 |
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| 作者姓名： | 吴立成 连志鹏 袁海斌 王淑慧 杨国胜 |
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| 作者单位： | 1. 中央民族大学信息工程学院,北京,100081
2. 北京航空航天大学自动化科学与电气工程学院,北京,100191 |
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| 基金项目： | 中央高校基本科研业务费专项资金资助项目(0910KYZY52,0910KYZD05); 北京市教委共建项目建设计划科学研究与科研基地建设项目(104-00102211); 教育部科学技术研究重点项目(211212); 国家自然科学基金资助项目(60875062,61004023) |
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| 摘 要： | 研究了水上行走机器人支撑腿形状设计与布局问题.首先将支撑腿视为欧拉-伯努利弹性曲梁,通过对其柔性变形的几何分析与应力应变分析,提出了-种支撑腿形状优化设计方法,方法的目标是获得最大支撑力.对方法的正确性和有效性进行了仿真和实验验证.其次通过分析支撑腿间距对支撑力的影响,以及支撑腿布局与机器人抗翻转能力的关系,提出了支撑...
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| 关 键 词： | 水上行走机器人 支撑腿 优化设计 布局 弹性曲梁 |
Design and Arrangement of Supporting Legs for Water Strider Robot |
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| WU Licheng,LIAN Zhipeng,YUAN Haibin,WANG Shuhui,YANG Guosheng. Design and Arrangement of Supporting Legs for Water Strider Robot[J]. Robot, 2011, 33(5): 513-518. DOI: 10.3724/SP.J.1218.2011.00513 |
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| Authors: | WU Licheng LIAN Zhipeng YUAN Haibin WANG Shuhui YANG Guosheng |
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| Affiliation: | WU Licheng~1,LIAN Zhipeng~2,YUAN Haibin~2,WANG Shuhui~2,YANG Guosheng~1 (1.School of Information Engineering,Minzu University of China,Beijing 100081,China,2.School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China) |
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| Abstract: | The problems of shape design and position arrangement for water strider robot's supporting legs are discussed. Firstly,the supporting leg is regarded as Euler-Bernoulli elastic curved beam and a method for designing its optimal shape is proposed by analyzing its geometric flexible deformation and stress-strain.The objective of the optimal method is to attain the maximum supporting force.The effectiveness and validity are verified through simulations and an experiment. Secondly,a method for arranging the sup... |
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| Keywords: | water strider robot supporting leg optimal design layout elastic curved beam |
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