CAJ | 학술논문

为研制仿青蛙游动机器人，设计了游动机器人机构．首先通过分析生物青蛙结构，设计仿青蛙机器人的原理样机．选择气动肌肉作为驱动器，分别驱动髋、膝、踝关节的转动，并采用钢丝传动结构，将膝关节气动肌肉安装在躯干上，从而有效减小了腿部的质量．建立了机器人系统的运动学模型并进行机器人运动学分析．分析了青蛙游动过程中的水下受力，并将水的作用力引入ADAMS仿真环境中，模拟了青蛙游动中的水环境，从而进行动力学仿真分析．最后对所研制出的仿青蛙游动机器人进行水下游动实验，其推进阶段平均速度达到339 mm/s．通过对比分析发现在动力学仿真和样机实验两种不同方法下机器人后肢运动形式基本一致，从而验证了仿青蛙游动机器人原理样机设计的可行性．
위연제방청와유동궤기인，설계료유동궤기인궤구．수선통과분석생물청와결구，설계방청와궤기인적원리양궤．선택기동기육작위구동기，분별구동관、슬、과관절적전동，병채용강사전동결구，장슬관절기동기육안장재구간상，종이유효감소료퇴부적질량．건립료궤기인계통적운동학모형병진행궤기인운동학분석．분석료청와유동과정중적수하수력，병장수적작용력인입ADAMS방진배경중，모의료청와유동중적수배경，종이진행동역학방진분석．최후대소연제출적방청와유동궤기인진행수하유동실험，기추진계단평균속도체도339 mm/s．통과대비분석발현재동역학방진화양궤실험량충불동방법하궤기인후지운동형식기본일치，종이험증료방청와유동궤기인원리양궤설계적가행성．
A swimming mechanism for frog inspired robot is designed. Firstly, the prototype of the frog inspired robot is designed through analyzing the biological structure of real frogs. Pneumatic muscles are selected as the drivers to drive the rotational motions of hip, knee and ankle joints. The knee driving muscle is positioned on the body, driving the knee joint through steel wires, and therefore, the leg mass is reduced. Then the kinematics model of the robot system is established and analyzed. The forces exerted on the frog are analyzed and introduced into simulation environment in ADAMS, so the water environment is simulated and the dynamic analysis is conducted. The underwater swimming experiments of the frog swimming robot are carried out, and average velocity in propulsive phase is 339mm/s. Through the comparative analyses of the two different methods, by dynamics simulation and prototype experiments, the motion patterns of the robotic hindlimb are basically the same. Accordingly, the feasibility of the designed frog inspired swimming robot can be verified.