以可燃混合气体为动力源,设计了一种燃气动力的弹跳机器人,包括弹跳驱动器和轮式运动机构。弹跳驱动器采用双活塞燃烧室结构及磁力锁紧机构,有效减小驱动器体积,有利于驱动器复位和废气排除。轮式运动机构包括车身和蜂窝车轮,车身作为驱动器载体,蜂窝车轮用于机器人落地缓冲。对车轮的径向、周向和切变模量进行等效计算,采用铁木辛柯梁理论对车轮进行静力分析,计算结果与试验数据吻合;利用LS-DYNA对车轮落地碰撞进行仿真,分析了落地冲击能量消耗。对机器人的弹跳运动进行规划,弹跳越障试验表明机器人可直接越过或跃上障碍物,验证了机器人的弹跳运动能力。该弹跳机器人的研究为提高地面移动机器人的未知复杂地形适应能力提供了一种可行的技术方案。
A hopping robot, powered by combustible gas mixture, is designed, which includes a hopping actuator and a wheeled locomotive structure. The actuator is characterized by a double-piston structure and a magnetic latch, which are beneficial to the volume reduction, reset and waste gas exclusion of the actuator. The wheeled structure consists of a vehicle body and honeycombed wheels. The vehicle body serves as the carrier of the hopping actuator, while wheels as landing buffer of the robot. The equivalent radial, tangential and shear modulus of wheels are calculated, and then Timoshenko Beam Theory is used for static analysis of wheels, and analytic results agree well with experimental data. The energy consumption of wheels during landing is obtained by landing collision simulation using LS-DYNA. The hopping locomotion of the robot is planned and hopping experiments show the robot can jump onto or over obstacles, and hopping ability of the robot is verified. This research provides a feasible technical scheme for improving the capability of field robots over unknown and complex terrains.
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