CAJ | 학술논문

为提高小型跳跃机器人的负重能力，设计了一款利用人工肌肉作为动力源的仿蝗虫腿跳跃机器人。观测了蝗虫后腿结构，并利用高速摄像机记录了跳跃过程中后腿关节变化情况。据此模仿蝗虫后腿结构，设计了仿蝗虫跳跃机器人弹跳腿，利用人工肌肉收缩拉动三连杆快速摆动实现起跳。建立了弹跳机构的动力学模型，分析得出影响其弹跳性能的因素。仿真结果表明，该弹跳机构在无额外负重时，跳跃高度可达578 mm ，在负重1 kg情况下，仍能实现约199 mm的跳跃高度，且起跳稳定。证明了该机构能实现类似于蝗虫的跳跃，为仿蝗虫跳跃机器人的设计提供了借鉴与参考。
위제고소형도약궤기인적부중능력，설계료일관이용인공기육작위동력원적방황충퇴도약궤기인。관측료황충후퇴결구，병이용고속섭상궤기록료도약과정중후퇴관절변화정황。거차모방황충후퇴결구，설계료방황충도약궤기인탄도퇴，이용인공기육수축랍동삼련간쾌속파동실현기도。건립료탄도궤구적동역학모형，분석득출영향기탄도성능적인소。방진결과표명，해탄도궤구재무액외부중시，도약고도가체578 mm ，재부중1 kg정황하，잉능실현약199 mm적도약고도，차기도은정。증명료해궤구능실현유사우황충적도약，위방황충도약궤기인적설계제공료차감여삼고。
To improve the load capacity of small jumping robots ,a locust‐inspired jumping robot was designed ,using the artificial muscles as the power source .The structure of the locust’s hind leg was observed and the variations of the legs’ joints during the jumping trajectory had been recorded with a high speed camera .According to the structure of locust’s hindleg ,the robot’s jump‐ing leg had been designed .The designed jumping leg realized the jumping motion by the rapid swing of three connecting rods , which were driven by the contraction of artificial muscles .Then ,the jumping dynamic model was established and analyzed ,and the impact factors of the jumping performance were also investigated .The simulation results indicate that the jumping robot could reach the height of 578 mm without any additional loads and with a stable taking off .Besides ,it can also reach the height of 199 mm with a additional load of 1 kg .The simulation has proved that the structure can jump like the locusts ,providing a foundation for the design of locust‐inspired jumping robots .