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根据蝗虫的身体构造及跳跃运动的特点,提出了仿蝗虫间歇跳跃机器人的机构模型。在建模时,将该模型抽象为平面刚性连杆机构,采用机器人运动学分析的D-H法,建立了各构件之间的运动学关系。基于跳跃运动的力学原理,采用关节轨迹规划的方法,分析了起跳过程中各杆件的位姿变化,并仿真了其起跳过程,证明了分析方法的可行性。研究了关键因素对跳跃性能的影响,为进一步分析及机器人的详细设计奠定了理论基础。
According to the body structure and jumping movement of locusts, a mechanism model of the intermittent jumping robot locust was proposed. In modeling, this model is abstracted as a planar rigid link mechanism, and the kinematic relationship among the components is established by D-H method of robot kinematics analysis. Based on the mechanics principle of jumping motion, the joint trajectory planning method was used to analyze the change of posture and posture of each rod in the course of take-off and to simulate its take-off process. The feasibility of the analysis method was proved. The influence of the key factors on the jump performance is studied, which lays a theoretical foundation for further analysis and detailed design of the robot.