基于碰撞力谐振致动机理与试验.pdfVIP

第 46 卷第 9 期 机 械 工 程 学 报 Vol.46 No.9 2010 年 5 月 JOURNAL OF MECHANICAL ENGINEERING May 2010 DOI ：10.3901/JME.2010.09.012 基于碰撞力的谐振致动机理与试验* 孙立宁 李伟达 李满天 蒋振宇 郭 伟 (哈尔滨工业大学机器人技术与系统国家重点实验室 哈尔滨 150080) 摘要：单侧碰撞约束的双摆是一个复杂的动力系统，有多种多样的运动形式。对初始条件为接触的单侧碰撞约束双摆在正弦 激励下的运动特性进行研究时发现，当激励频率与系统特性匹配时，只需很小的激励双摆的末端就会与约束分离，从而进入 碰撞振动状态，且此时双摆每次与约束碰撞产生的切向冲量的概率分布具有不变性，即碰撞力具有驱动效果。根据这种特性 提出一种基于碰撞力的谐振致动机理。基于该致动机理，模拟双摆的力学特性，设计谐振式驱动足，并研制移动机构样机。 通过试验证明谐振足与地面约束的碰撞力具有驱动效果，在幅值为 10 V 的正弦激励下，样机的移动速度可达 172 mm/s。基 于碰撞力的谐振致动机理具有结构简单、易于实现、运动速度快的优点，可以很好地适应微小型移动机器人的需求。 关键词：微小型机器人 致动机理 谐振 中图分类号：TP242 Experiments and Resonant Locomotion Principle Based on Impact Force SUN Lining LI Weida LI Mantian JIANG Zhenyu GUO Wei (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080) Abstract ：Double pendulum with unilateral constraints is a complex system, which has many dynamic behaviors. The dynamics of a double pendulum contacting with constraints in initial conditions is studied, and it is found that only very small excitation is needed to separate the pendulum and the constraint when the excitation frequency is appropriate, then the system enters vibro-impact state. In this state, the probability distribution of tangential impulse generated by every impact is invariable. The impact force shows the ability of driving robot to move. Based on this principle, by simulating the characteristic of double pendulum, resonant legs and a prototype robot are developed. Experiment results show that the impact force between resonant leg and ground do have driving effect, and a velocity of 172 mm/s can be got with 10 V driving voltage. The resonant locomotion principle can fit the micro and miniature mobile robots well for it is