振动与冲击
振動與遲擊
진동여충격
JOURNAL OF VIBRATION AND SHOCK
2014年
2期
7-13
,共7页
倪虹%甄永乾%汪延成%梅德庆%陈子辰
倪虹%甄永乾%汪延成%梅德慶%陳子辰
예홍%견영건%왕연성%매덕경%진자신
跳跃机构%仿生%蝗虫%非线性
跳躍機構%倣生%蝗蟲%非線性
도약궤구%방생%황충%비선성
jumping mechanism%bionics%locust%non-linear
提出、研制仿蝗虫跳跃机构。通过高速摄像实验研究蝗虫起跳阶段运动学及力学特性结果表明,起跳阶段,蝗虫跳跃足受地面作用力相对时间呈非线性平缓变化,该力学特性有利于避免跳跃足受瞬时冲击力过大。在此基础上提出仿蝗虫跳跃机构设计方案,用六连杆机构作为跳跃腿部构件,用螺旋弹簧储能,将弹簧拉伸产生的线性力转化为跳跃足非线性驱动力,有效仿生蝗虫起跳阶段的力学特性。用研制的仿蝗虫跳跃机构原理样机进行实验。结果表明,该样机可有效仿生蝗虫起跳阶段的力学特性,与蝗虫在起跳阶段运动相似,其跳跃高度相当于自身高度的129%。研究成果可为跳跃机器人的研制提供新思路。
提齣、研製倣蝗蟲跳躍機構。通過高速攝像實驗研究蝗蟲起跳階段運動學及力學特性結果錶明,起跳階段,蝗蟲跳躍足受地麵作用力相對時間呈非線性平緩變化,該力學特性有利于避免跳躍足受瞬時遲擊力過大。在此基礎上提齣倣蝗蟲跳躍機構設計方案,用六連桿機構作為跳躍腿部構件,用螺鏇彈簧儲能,將彈簧拉伸產生的線性力轉化為跳躍足非線性驅動力,有效倣生蝗蟲起跳階段的力學特性。用研製的倣蝗蟲跳躍機構原理樣機進行實驗。結果錶明,該樣機可有效倣生蝗蟲起跳階段的力學特性,與蝗蟲在起跳階段運動相似,其跳躍高度相噹于自身高度的129%。研究成果可為跳躍機器人的研製提供新思路。
제출、연제방황충도약궤구。통과고속섭상실험연구황충기도계단운동학급역학특성결과표명,기도계단,황충도약족수지면작용력상대시간정비선성평완변화,해역학특성유리우피면도약족수순시충격력과대。재차기출상제출방황충도약궤구설계방안,용륙련간궤구작위도약퇴부구건,용라선탄황저능,장탄황랍신산생적선성력전화위도약족비선성구동력,유효방생황충기도계단적역학특성。용연제적방황충도약궤구원리양궤진행실험。결과표명,해양궤가유효방생황충기도계단적역학특성,여황충재기도계단운동상사,기도약고도상당우자신고도적129%。연구성과가위도약궤기인적연제제공신사로。
Proposed and manufactured a bio-jumping mechanism.The kinematics and mechanical characteristics of the locusts'take-off phase were investigated with the help of high-speed camera.The results show that the locust saltatorial leg has a non-linear force output characteristic in take-off phase,which can effectively avoid the impact of instantaneous force changes.Then,a bio-jumping mechanism inspired from locust take-off jumping was designed.By adopting a six links mechanism as the saltatorial leg and a spiral spring as a storage mechanism,the linear force generated by the spring was converted into a nonlinear leg driving force. A prototype of bio-jumping mechanism was developed and the experiments for the take-off phase were carried out. The experimental results show that the designed bio-jumping mechanism has the similar movement characteristics as the locust jumping in take-off phase,and the jumping height that the mechanism can reach is 129% the height of the mechanism structure.The results provide a new approach for the design of jumping robots.