工程设计学报2025，Vol.32Issue(3)：334-345,12.DOI:10.3785/j.issn.1006-754X.2025.04.175
复合式跳跃仿生机器人设计与分析
Design and analysis of bionic robot with compound jumping
摘要
Abstract
In order to improve the jumping height of multi-legged jumping robot,based on the leg structure and jumping mechanism of jumping spider,a composite jumping robot based on fuselage ejection and leg extension was designed.Firstly,based on the jumping mechanism of jumping spider,the leg structure and ejection device of robot were designed,and the overall structure of robot was modeled using UG 3D modeling software.Secondly,the MD-H(modified Denavit-Hartenberg)method was used for conduct kinematic modeling and analysis of the robot's leg,MATLAB software was used to calculate the working space of the robot's leg,and Lagrange method was used to calculate the dynamics of the leg.Then,a ejection device employing ratchet drive and bevel gear drive was designed,and its energy storage spring was designed according to the law of energy conservation and Hooke's law.Next,the motion control system for the robot was established.Finally,ADAMS motion simulation was carried out,and the results showed that the maximum height was 734.117 6 mm when the robot jumped vertically,and the maximum forward distance was 447.641 7 mm when it jumped forward.The whole motion process took 1.5-2.0 s.A physical model was made using 3D printing technology for experimental verification.The research results show that the composite jumping motion of multi-legged jumping robot can effectively improve the vertical jumping height and forward jumping distance,so the robot has better practicality.关键词
跳蛛/跳跃机器人/弹射装置/运动仿真Key words
jumping spider/jumping robot/ejection device/motion simulation分类
计算机与自动化引用本文复制引用
魏晓华,韩峰,韩晓亮,何明忠..复合式跳跃仿生机器人设计与分析[J].工程设计学报,2025,32(3):334-345,12.基金项目
辽宁省教育厅项目(LJ2019JL024) （LJ2019JL024）
