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设计了具有弹跳功能的翻滚式机器人——Tumbot.Tumbot以翻滚运动为主,弹跳运动为辅.其本体为不规则四边形,长12.5cm,宽6cm,高4cm,质量约275g.侧面有2个11cm长的翻转臂,用于实现翻滚运动.弹跳储能机构采用改进的六杆式齿轮机构,可同时加载4根扭簧和2根拉簧,弹跳释放机构采用缺齿轮来瞬间释放储存的弹性势能.机器人上下结构对称,不需要复位机构就可以实现连续弹跳运动,并可以利用翻滚机构调节弹跳方向和起跳角度.进行了机器人机构设计、受力分析、仿真和实验研究.实验结果验证了Tumbot适用于崎岖复杂地形的基本运动能力和越障能力,其直线行进速度为7.04cm/s,可以翻越3.5cm的台阶,最大弹跳高度为51cm.
Tumbot.Tumbot is designed as a tumbling robot with bouncing function, supplemented by bouncing motion.The body is an irregular quadrilateral with a length of 12.5cm, a width of 6cm, a height of 4cm and a mass of about 275g. There are two 11cm long flip arm for tumbling movement Bounce storage mechanism with improved six-bar gear mechanism can be loaded with four torsion springs and two tension springs, bouncing release mechanism uses a missing gear to instantly release the stored elasticity Potential energy, robot’s symmetrical structure up and down, continuous bouncing without resetting mechanism and bouncing direction and take-off angle can be adjusted by tumbling mechanism.The mechanism design, force analysis, simulation and experiment of robot are carried out.The experimental results verify that Tumbot It is suitable for basic sports ability and obstacle obstacle of rugged and complicated terrain. Its linear speed of travel is 7.04cm / s, it can climb 3.5cm steps and the maximum bouncing height is 51cm.