中国机械工程2023，Vol.34Issue(24)：2946-2951,6.DOI:10.3969/j.issn.1004-132X.2023.24.006
一种仿蝗虫弹跳机器人的设计与制作
A Bionic Bouncing Robot Design and Made Inspired by Locusts
摘要
Abstract
In order to improve the mobility of small robots and increase the diversity of movement gait,a jumping robot imitating locust bouncing was designed based on the body structure and move-ment mechanism of locusts,and the main body was made by 3D printing.And for reproducing the locust's bouncing mechanism,a torsion spring was installed at the joints of the robot body to simulate the locust's SLP(semilunar energy storage)mechanism.When the robot met an obstacle,the torsion spring released the stored elastic potential energy and generated a ground reaction force,which real-ized the robot's bouncing and thus crossed the obstacle.The robot might imitate the locust's jumping actions,and simulate the locust's flexibility to a certain extent.It was experimentally verified that the robot has good jumping performance,with a jumping distance of up to 100 cm and a jumping height of up to 120 cm which is about 15 times of the own length.关键词
仿生/蝗虫/弹跳机构/扭转弹簧/三维打印Key words
bionic/locust/bouncing mechanism/torsion spring/3D printing分类
信息技术与安全科学引用本文复制引用
王铠迪,陈岁繁,唐威,秦可成,李其朋,杨展,刘阳,邹俊..一种仿蝗虫弹跳机器人的设计与制作[J].中国机械工程,2023,34(24):2946-2951,6.基金项目
全国博士后创新人才支持计划(BX20220267) （BX20220267）
浙江省科技厅领雁项目(2022C04022) （2022C04022）
