机械科学与技术2025，Vol.44Issue(11)：1919-1928,10.DOI:10.13433/j.cnki.1003-8728.20230352
弹跳/栖息机器人臂爪设计及动力学建模
Arm/claw Design and Dynamic Modeling of Jumping/perching Robot
摘要
Abstract
A jumping/perching robot with arm/claw capable of grasping and perching in unstructured environment is proposed.Based on the folding buffering and springback locking principles,an underactuated arm/claw inspired by the raptor peregrine is designed,which can passively transform the instantaneous collision energy into powerful grasping force,and realize controllable high-speed collision and reliable perching between the robot and perching target.The dynamic models of the robot's three-dimensional jumping and aerial grasping are established,and the analytical solutions of drive torques of the leg motor and inertia tail motors are derived,so that the controllable continuous jump and real-time three-dimensional attitude control of the robot are realized.Based on the dynamic models above,the continuous jump simulation and aerial grasping simulation are carried out,in which the robot's center of mass can accurately reach all the three-dimensional target positions.The simulation results show that the robot is expected to obtain the grasping/hanging,aerial perching/observation abilities through three-dimensional jumping,which verifies feasibility of the under-actuated arm/claw design and continuous jumping/aerial grasping dynamic models proposed in this paper.关键词
欠驱动臂爪/折叠缓冲系统/回弹锁定机构/三维弹跳/空中抓握动力学模型Key words
underactuated arm/claw/folding buffering system/springback locking mechanism/dynamic models of three-dimensional jumping and aerial grasping分类
机械制造引用本文复制引用
许勇,刘凌霄,李俊楠,魏馨梅,郑佳乐,赖磊捷..弹跳/栖息机器人臂爪设计及动力学建模[J].机械科学与技术,2025,44(11):1919-1928,10.基金项目
上海市自然科学基金面上项目(21ZR1426000) （21ZR1426000）
