| 仿蟋蟀微型机器人起跳过程驱动力特性的研究 |
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| 引用本文： | 张权,陈安军.仿蟋蟀微型机器人起跳过程驱动力特性的研究[J].机械科学与技术(西安),2010(5). |
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| 作者姓名： | 张权 陈安军 |
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| 作者单位： | 江南大学机械工程学院; |
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| 摘 要： | 针对蟋蟀生物体的结构和跳跃运动特点,利用扭转弹簧模拟其腿部关节柔性和肌肉的储能作用,得到了具有关节柔性的仿蟋蟀跳跃机器人的机构模型。应用拉格朗日法建立机构在着地阶段起跳过程中的动力学方程并对驱动力特性进行了仿真分析。结果分析表明:FT关节的驱动力矩大约是BF关节和TT关节的近3倍,因此FT关节的驱动力矩是完成跳跃的决定因素之一;利用柔性机构可降低跳跃运动所需关节驱动力矩和能量的消耗。
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| 关 键 词： | 仿蟋蟀微型机器人 柔性机构 动力学 驱动力 |
Characteristics of the Driving Force of a Bionic Cricket Microrobot in the Takeoff Stage |
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| Zhang Quan,Chen Anjun.Characteristics of the Driving Force of a Bionic Cricket Microrobot in the Takeoff Stage[J].Mechanical Science and Technology,2010(5). |
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| Authors: | Zhang Quan Chen Anjun |
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| Affiliation: | School of Mechanical Engineering/a>;Jiangnan University/a>;Wuxi 214122 |
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| Abstract: | Based on the cricket body configuration and the characteristics of its jumping behavior,we established the model of a bionic cricket robot.The torsional springs fixed on the joints of the robot mechanism are used to mimic the flexibility of the joints on the cricket legs and the energy storage function of its leg muscles.Then the dynamic equations during the take-off stage of the stance phase were derived by Lagrange method,and dynamic simulation was carried out to analyze the driving forces of the joints o... |
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| Keywords: | bionic cricket microrobot compliant mechanism dynamics driving forces |
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