机器人Issue(2)：168-175,187,9.DOI:10.13973/j.cnki.robot.2015.0168
仿青蛙游动机器人机构设计
Mechanical Design of Frog Inspired Swimming Robot
摘要
Abstract
A swimming mechanism for frog inspired robot is designed. Firstly, the prototype of the frog inspired robot is designed through analyzing the biological structure of real frogs. Pneumatic muscles are selected as the drivers to drive the rotational motions of hip, knee and ankle joints. The knee driving muscle is positioned on the body, driving the knee joint through steel wires, and therefore, the leg mass is reduced. Then the kinematics model of the robot system is established and analyzed. The forces exerted on the frog are analyzed and introduced into simulation environment in ADAMS, so the water environment is simulated and the dynamic analysis is conducted. The underwater swimming experiments of the frog swimming robot are carried out, and average velocity in propulsive phase is 339mm/s. Through the comparative analyses of the two different methods, by dynamics simulation and prototype experiments, the motion patterns of the robotic hindlimb are basically the same. Accordingly, the feasibility of the designed frog inspired swimming robot can be verified.关键词
仿蛙机器人/机构设计/运动学/气动肌肉/动力学仿真/样机实验Key words
robotic frog/mechanical design/kinematics/pneumatic muscle/dynamics simulation/prototype experiment分类
信息技术与安全科学引用本文复制引用
樊继壮,仇裕龙,张伟,王欢..仿青蛙游动机器人机构设计[J].机器人,2015,(2):168-175,187,9.基金项目
国家自然科学基金资助项目（51005052）；机器人技术与系统国家重点实验室自主课题资助项目（SKLRS201001C）． （）
