摘要仿生跳跃机器人与传统移动式、轮式机器人相比，不仅具有体积小、重量轻等优点，而且还可以跳过高于它自己本身高度数倍的障碍物或渠沟，同时还具有地形适应性强、运动灵活等特点，所以国内外的有关机构都对仿生跳跃机器人高度重视。因为涉及到的有关学科比较多，研究难度较大，所以国际上有关仿生跳跃机器人的研究虽然进行了几十年，但目前仍处于初级阶段。而国内的有关研究由于起步较晚，所以较国际水平有一定的差距。48025

本文首先系统的分析了国内外弹跳机器人的研究现状，并按照系统的方法对弹跳机器人进行了分类。通过对袋鼠跳跃时的运动机理和腿部运动特征的简要分析，把袋鼠腿部结构等效成四连杆结构，优化设计出依靠气缸驱动的仿袋鼠腿型跳跃机器人模型。最后对所见模型进行有关运动学和动力学分析，从而验证这种模型的可行性以及未来的改进方向。

关键词  仿生跳跃机器人  袋鼠腿型  四连杆机构  气缸

毕业论文设计说明书外文摘要

Title    Design and analysis of a robot bounce mechanism  

Abstract

Compared with the traditional mobile, wheeled robot, bionic hopping robot not only has the advantages of small volume, light weight, but also can jump higher than its own degree of the height of the times of obstacles or trench. At the same time, it also has the characteristics of high terrain adaptability, flexible movement and so on, so the relevant agencies at home and abroad attach great importance to the bionic jumping robot. Because it involves more relevant disciplines, research is more difficult, so the international research on the bionic hopping robot, although carried out for several decades, but it is still in the primary stage. And the relevant domestic research because of the late start, so there is a certain gap compared with international level.

In this paper, firstly, the research status of domestic and international hopping robot is analyzed systematically, and the classification of the hopping robot is classified according to the method of the system. Through the brief analysis of the movement mechanism and the leg movement characteristics of the kangaroo, the kangaroo leg structure is equivalent to the four link structure, so to make the optimal design of the model of hopping robot based on the cylinder drive. Finally, the kinematics and dynamics of the model are analyzed, so as to verify the feasibility of the model and the direction of future improvement.

Keywords   Bionic hopping robot   Kangaroo leg  Four-bar linkage  Cylinder  

目   次

1  绪论 1

1.1  课题研究背景与意义 1

1.2  弹跳机器人研究现状 1

1.3  跳跃机器人的优势和发展趋势 6

1.4  跳跃机器人面临的问题 7

1.5  本课题主要研究内容 8

2  仿袋鼠腿型跳跃机器人机构基本理论与模型 9

2.1  仿生机构基本组成 9

2.2  构件代换原则 9

2.3  腿型跳跃机器人主要构造及其性能因素 9

2.4  模拟袋鼠腿型机构运动模型建立 10

2.5  本章小结 11

3  仿袋鼠腿部跳跃机器人结构设计