可跳跃式两轮机器人的设计与动力学分析 Design and Dynamics Analysis of a Two-wheel Robot with Hopping Ability.pdfVIP

第36 卷第3 期 机器人 ROBOT Vol.36, No.3 2014 年5 月 May, 2014 DOI ：10.3724/SP.J.1218.2014.00355 可跳跃式两轮机器人的设计与动力学分析 张小飞，张延恒，孙汉旭，贾庆轩，肖 寒 （北京邮电大学自动化学院，北京 100876） 摘 要：为提高跳跃机器人运动的灵活性和实用性，通过将跳跃运动与轮式运动相结合，设计了一种新型的 可跳跃式两轮机器人．跳跃运动由三杆弹簧跳跃机构实现，在大大减小机构尺寸的同时提高了能量利用率．详细 介绍了机器人各机构的组成及工作原理，在此基础上，对机器人跳跃过程进行了动力学建模，分析了影响机器人 跳跃能力的因素．为验证机械设计的有效性，利用ADAMS 进行了机器人轮式移动与跳跃越障过程的仿真．搭建 机器人控制系统并制作可跳跃式两轮机器人原理样机，最终跳跃实验结果证明了机器人设计的合理性以及理论分 析的正确性．该跳跃机器人的能量利用效率接近70%，跳跃高度超过自身尺寸． 关键词：跳跃机器人；两轮机器人；机构设计；动力学分析 中图分类号：TP242 文献标识码：A 文章编号：1002-0446(2014)-03-0355-07 Design and Dynamics Analysis of a Two-wheel Robot with Hopping Ability ZHANG Xiaofei ，ZHANG Yanheng ，SUN Hanxu ，JIA Qingxuan ，XIAO Han (School of Automation, Beijing University of Post and Telecommunication, Beijing 100876, China) Abstract: To enhance the movement flexibility and practicability of the hopping robot, a two-wheel robot with hopping ability is designed by combining hopping movement and wheeled movement. The hopping movement is realized by a three- bar spring model of hopping mechanism which can reduce the body size and enhance the energy utilization at the same time. The structure constitution and principle of the robot are introduced in detail. Then, dynamic models of the robot during the hopping motion period are built, the factors affecting hopping ability of the robot are analyzed. To verify the validity of the mechanical design, wheeled motion and hopping motion during robot obstacle-crossing are simulated with ADAMS. The control system and a principle prototype of the two-wheel robot are developed. Finally, hopping experiment resul