机器人Issue(3)：355-361,7.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
Design and Dynamics Analysis of a Two-wheel Robot with Hopping Ability
摘要
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 results show the reasonability of robot design and the validity of theoretical analysis. For this hopping robot, the energy utilization is close to 70%and the jumping height is greater than its own size.关键词
跳跃机器人/两轮机器人/机构设计/动力学分析Key words
hopping robot/two-wheel robot/mechanism design/dynamics analysis分类
信息技术与安全科学引用本文复制引用
张小飞,张延恒,孙汉旭,贾庆轩,肖寒..可跳跃式两轮机器人的设计与动力学分析[J].机器人,2014,(3):355-361,7.基金项目
国家自然科学基金资助项目（51175048）；教育部科技创新工程重大项目培育资金项目（708011）． （）
