摘要
针对在复杂、狭窄的非结构化地形下跳跃机器人存在的着陆稳定性和运动连续性的问题,提出了一种形状记忆合金(shapememoryalloy,简称SMA)智能材料驱动的柔性跳跃机器人,它具有轻质小型、结构简单及连续运动的优点。利用对称的折纸柔性身体减少着陆振动,保证着陆稳定;利用对称的双SMA弹簧拮抗系统实现弹性元件交替变形和储能释能的功能;建立了柔性机器人跳跃运动的理论模型,研究了关键结构尺寸对能量储存和跳跃性能的影响机制,并研制了一款尺寸为6 cm×4 cm×2.5 cm、质量为3.8 g的原理样机。实验结果表明:柔性机器人依靠SMA驱动能够实现跳跃触发和形态恢复,最大跳跃高度和远度分别为8.67 cm和18 cm,并且可以适应不同工作面。该机器人跳跃性能优越,控制顺序简单,可为非结构化地形下完成侦察探测工作奠定基础。
In order to solve the problems of landing stability and motion continuity of jumping robots in complex or narrow unstructured terrain,a soft jumping robot driven by shape memory alloy(SMA)smart material is proposed in this paper.It has the advantages of light weight,small size,simple structure,and continuous motion.The symmetrical origami flexible body is designed to reduce landing vibration and maintain landing stability;the symmetrical double SMA spring antagonism system is used to realize the function of structural deformation alternation for energy storage and release.Based on the theoretical model of this robot in the jumping process,the influence of key structural dimensions on energy storage and jumping performance is studied.A prototype with 6 cm×4 cm×2.5 cm in size and 3.8 g in mass is designed and manufactured.The experimental results show that this robot driven by SMA achieves jump triggering and posture recovery,whose maximum jumping height and distance are 8.67 cm and 18 cm,respectively.This robot can adapt to different working surfaces.With the advantages of good jumping ability and simple control sequence,this design lays a foundation for reconnaissance and detection work in unstructured terrain.
作者
毛婷
彭瀚旻
查泽琳
赵燊佳
MAO Ting;PENG Hanmin;ZHA Zelin;ZHAO Shenjia(State Key Laboratory of Mechanics and Control of Mechanical Structures,Nanjing University of Aeronautics and Astronautics Nanjing,210016,China)
出处
《振动．测试与诊断》
EI
CSCD
北大核心
2021年第3期447-452,617,共7页
Journal of Vibration,Measurement & Diagnosis
基金
国家自然科学基金资助项目(51875280)
江苏省优秀青年基金资助项目(BK20180067)
江苏省研究生科研与实践创新计划资助项目(KYCX18_0253)
江苏高校优势学科建设工程资助项目(PAPD)。
