Structural design and performance analysis of hopping robot with buffer devices

一种具有缓冲装置的跳跃机器人结构设计及性能分析

School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing 211167, China

Received: 12 April 2024

Abstract

The existing hopping robot has large landing impact and poor landing stability. Therefore, a hopping robot with a new buffer device is designed. The anti-rotation mechanism in the buffer device is used to reduce the landing impact. The unidirectional bearing and damping ring are jointly employed to avoid the rebound of the hopping robot when the buffer device absorbs ground impact forces. Based on the principles of robotic mechanism, the main structure of the hopping robot is designed. Its motion principles are analyzed and its motion procedures are developed. The kinematics models of the hopping robot in its takeoff, flight and landing stages are established by using the D-H method. Its dynamic models in the takeoff and flight stages are studied according to the second-type Lagrange method. Its landing stability is analyzed based on the zero moment point (ZMP) theory and the ZMP trajectory plot is drawn. The hopping robot prototype is developed with the 3D printing technique and experiments on it are carried out. The study results significantly enhance the hopping stability of the hopping robot and reduce its landing impact.

摘要

针对现有跳跃机器人落地冲击力大、落地不稳定的问题, 设计了一种具有新型缓冲装置的跳跃机器人, 拟利用缓冲装置中的止转机构减少落地冲击, 借助单向轴承与阻尼环的配合, 避免缓冲装置因吸收地面冲击力而造成机体回弹。根据机器人机构学原理, 设计了跳跃机器人的主体结构, 分析了其运动原理, 给出了弹跳流程图。采用D-H方法, 建立了跳跃机器人起跳、腾空、落地3个阶段的运动学模型, 使用第二类拉格朗日法, 建立了起跳和腾空阶段的动力学模型。基于零力矩点(ZMP)理论分析了跳跃机器人的落地稳定性, 计算并绘制了ZMP轨迹图。使用3D打印技术研制了跳跃机器人样机, 开展了试验测试研究。研究成果对提高机器人的跳跃稳定性、缓解落地冲击具有重要意义。