跳跃机器人能量转换的主动控制与试验测试

doi:10.3969/j.issn.1004-132X.2022.24.007

摘要/Abstract

摘要： 针对现有跳跃机器人能量转换效率低的问题，设计了一种新型跳跃机器人，以实现利用非圆齿轮的啮合主动控制能量的有效存储和释放。基于机器人机构学原理，设计了跳跃机器人的主体结构，分析了其运动原理，给出了其弹跳运动流程。根据预先给定的机器人能量转换曲线中的关键参数，以能量转换曲线研究非圆齿轮节曲线，以非圆齿轮共轭啮合特性研究跳跃机器人的能量转换特性，建立了非圆齿轮传动的数学模型，并通过具体实例详细说明了非圆齿轮的设计过程。使用3D打印技术制作了跳跃机器人原理样机，开展试验测试研究。研究结果表明，跳跃机器人可以实现稳定跳跃，且能量转换效率的测量值与预先给定的理论值较吻合。

关键词: 跳跃机器人, 能量转换, 主动控制, 非圆齿轮, 啮合

Abstract: To change the present situations of the low energy conversion efficiency, a new type hopping robot was proposed. The basic thought was to control the energy storage and release by non-circular gear meshing. Based on the principles of robot mechanisms, the main structure of the hopping robots was built. Motion principle was analyzed and motion procedure of the hopping robots was developed. According to the pre-given key parameters of energy conversion curve, pitch curves of non-circular gears were investigated by exploring the energy conversion curves, while hopping properties of hopping robots were revealed by exploring meshing properties of non-circular gears. The mathematical models of non-circular gear transmission were established. A detailed introduction about the design processes of non-circular gears was given by using examples. Using 3D printing technique, the robot prototype was developed, and the experiments for hopping robots were carried out. The results confirm that the stable hopping may be realized, and the experimental results are close to the pre-given values.

Key words: hopping robot, energy conversion, active control, non-circular gear, meshing

中图分类号:

TP242

王建, 缪龙, 张文祥, 王树坤. 跳跃机器人能量转换的主动控制与试验测试[J]. 中国机械工程, 2022, 33(24): 2961-2970.

WANG Jian, MIAO Long, ZHANG Wenxiang, WANG Shukun. Active Control Method for Energy Conversion and Experimental Test of Hopping Robots[J]. China Mechanical Engineering, 2022, 33(24): 2961-2970.

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