介电型EAP驱动弹跳机器人研究-机械电子工程专业论文.docxVIP

南京航空航天大学硕士学位论文 摘 要 弹跳式移动作为地面移动机器人一种移动方式，具有较强的越障能力和环境适应能力。介 电型 EAP 驱动器具有制作简单，成本低，质量轻，能量质量比大等优点。采用介电型 EAP 驱 动器驱动微小型弹跳机器人对于促进新型智能材料在仿生机器人中的应用具有重要的研究价 值。 在对介电型 EAP 驱动器分析的基础上，设计、实现了菱形、锥形驱动器。通过对负刚度预 载荷分析，选用菱形机构作为锥形驱动器预载荷机构。为了减少锥形驱动器质量与体积，选用 半菱形预载荷机构锥形驱动器，提高了该驱动器输出位移。通过对三种驱动器特点的比较，选 用锥形驱动器作为弹跳机器人驱动。 通过对三种弹跳机构的比较，确定选用平行四边形机构作为弹跳机构。通过对扭簧、恒扭 矩凸轮机构、前腿的设计与分析，实现了一种采用锥形驱动器驱动的微小型弹跳机器人。 通过对弹跳机器人弹跳过程的分析，建立起了机器人起跳阶段动力学模型，求得了机器人 的起跳速度。运用 ADAMS 软件对机器人进行了仿真分析，得到了弹跳机器人脚趾质心位移曲 线与弹跳过程动画。对弹跳机器人进行了弹跳试验分析，得到了不同压缩角度扭簧、不同长度 脚趾的弹跳结果。 针对机器人多个介电型 EAP 驱动器控制的需要，分析了多路高压控制的实现方法，在多路 高压控制试验的基础上，设计了多路高压控制电路。 关键词：介电型 EAP，驱动器，动力学分析，弹跳机器人 I 介电型 EAP 驱动弹跳机器人研究 ABSTRACT Hopping as a mode of locomotion for ground robot shows great superiority on ability of overcoming obstacles and adapting to environment. Dielectric EAP actuator has the properties of easy fabrication, inexpensive, low mass, large energy density. The microrobot driven by dielectric EAP actuator has a significant research value on the aspect of promoting bionic robot driven by new intelligent material. On the base of the analysis of dielectric EAP actuator, diamond, cone actuators were designed and implemented. Through analysing negative stiffness preload, diamond mechanism was adapted as the preload of cone actuator. In order to reduce cone dielectric actuator mass and volume, half-diamond mechanism was adapted as the preload of cone actuator. By comparing the three actuator characters, cone dielectric was used as hopping robot actuator. By comparing three hopping mechanisms, parallelogram mechanism was introduced as hopping mechanism.On the base of design and analysis of torsion spring, invariable torsion cam, front leg, a microrobot driven by cone actuator was manufactured. The hopping phase of robot was analysed. During robot taking off phase, dynamic model was established. Then the motion of robot was calculated. The hopping robot was simulated in ADAMS. The curve of toe centroid and animation were obtained. Hopping robot was tested experime