A Single-legged Robot Inspired by the Jumping Mechanism of Click Beetles and Its Hopping Dynamics Analysis
A Single-legged Robot Inspired by the Jumping Mechanism of Click Beetles and Its Hopping Dynamics Analysis
复制标题
受点击甲虫跳跃机制启发的单足机器人及其跳跃动力学分析
DOI：
10.1007/s42235-020-0099-z
复制
发表时间：
2020-10-24
影响因子：
4
通讯作者：
Hu, Huosheng
中科院分区：
文献类型：
--
作者：
Chen, Gang;Tu, Jiajun;Hu, Huosheng
当它在背侧时，点击甲虫可以用铰链跳起来。这种跳跃机构简单，适合作为设计一个简单，小型，可靠的跳跃机器人的灵感。我们报告了一个单腿机器人的启发点击甲虫的跳跃机制。它高85毫米，长60毫米，宽41毫米，重约49克。该机器人具有良好的跳跃性能，跳跃高度约为自身身高的4 ~ 4.3倍。它能够用于需要通过裂缝和狭窄通道进入封闭空间的救援任务。此外，机器人跳跃动力学的研究对于理解其跳跃机理、提高机器人跳跃性能具有重要意义。但现有的动力学研究并没有对跳跃过程中的预跳跃、起飞、空中飞行等各个阶段进行完整的分析。我们提出了分解方法来分别研究这三个阶段的动力学，并将它们与相关参数合成。实现了单足跳跃机器人一个跳跃周期内多运动状态的动态综合。通过仿真和实验验证了机器人的跳跃性能和动力学综合理论。本文的研究为简单跳跃机器人系统的设计和跳跃控制奠定了基础。
The click beetle can jump up with a hinge when it is on the dorsal side. This jumping mechanism is simple and suitable as an inspiration for designing a simple, small, and reliable hopping robot. We report a single-legged robot inspired by the jumping mechanism of click beetles. It is 85 mm high, 60 mm long, and 41 mm wide, and weighs about 49 g. The robot has good hopping performance that the hopping height is about 4 times – 4.3 times of its body height. It is capable for rescue missions that require to enter enclosed spaces through cracks and narrow channels. In addition, hopping dynamics of the robot is important to understand its jumping mechanism and improve the robot’s hopping performance. But existing dynamic study does not complete the analysis including all stages in the hopping which are pre-hopping, take-off, and air-flying. We propose the decomposition method to study dynamics of the three stages separately, and synthesize them with related parameters. The dynamic synthesis of multi-motion states in a hopping cycle of the single-legged hopping robot is implemented. The hopping performance and dynamic synthesis theory of the robot are verified by simulations and experiments. Our study helps lay the foundation for design and hopping control of simple hopping robot systems.