首页|期刊导航|哈尔滨工业大学学报（英文版）|Bionic Design and Simulation Analysis of Energy-Efficient and Vibration-Damping Walking Mechanism
哈尔滨工业大学学报（英文版）2021，Vol.28Issue(4)：16-24,9.
Bionic Design and Simulation Analysis of Energy-Efficient and Vibration-Damping Walking Mechanism
Bionic Design and Simulation Analysis of Energy?Efficient and Vibration?Damping Walking Mechanism
摘要
Abstract
African ostrich can run for 30 min at a speed of 60 km/h in the desert, and its hindlimb has excellent energy saving and vibration damping performance. In order to realize the energy?efficient and vibration?damping design of the leg mechanism of the legged robot, the principle of engineering bionics was applied. According to the passive rebound characteristic of the intertarsal joint of the ostrich foot and the characteristic of variable output stiffness of the ostrich hindlimb, combined with the proportion and size of the structure of the ostrich hindlimb, the bionic rigid?flexible composite legged robot single?leg structure was designed. The locomotion of the bionic mechanical leg was simulated by means of ADAMS. Through the motion simulation analysis, the influence of the change of the inner spring stiffness coefficient within a certain range on the vertical acceleration of the body centroid and the motor power consumption was studied, and the optimal stiffness coefficient of the inner spring was obtained to be 200 N/mm, and it was further verified that the inner and outer spring mechanism could effectively reduce the energy consumption of the mechanical leg. Simulation results show that the inner and outer spring mechanism could effectively reduce the motor energy consumption by about 72.49％.关键词
bionics engineering/bionic mechanical leg/passive rebound characteristic/rigid⁃flexible composite structure/energy⁃efficient and vibration⁃dampingKey words
bionics engineering/bionic mechanical leg/passive rebound characteristic/rigid⁃flexible composite structure/energy⁃efficient and vibration⁃damping分类
通用工业技术引用本文复制引用
Rui Zhang,Hao Pang,Yuan He,Dianlei Han,Lige Wen,Lei Jiang,Jianqiao Li..Bionic Design and Simulation Analysis of Energy-Efficient and Vibration-Damping Walking Mechanism[J].哈尔滨工业大学学报（英文版）,2021,28(4):16-24,9.基金项目
Sponsored by the National Natural Science Foundation of China(Grant Nos.51675221 and 91748211),the Science and Technology Development Planning Project of Jilin Province of China(Grant No.20180101077JC),and the Science and Technology Research Project in the 13th Five?Year Period of Education Department of Jilin Province(Grant No.JJKH20190134KJ). （Grant Nos.51675221 and 91748211）
