A locust-inspired miniature jumping robot
A locust-inspired miniature jumping robot
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DOI：
10.1088/1748-3190/10/6/066012
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发表时间：
2015-12-01
影响因子：
3.4
通讯作者：
Kosa, Gabor
中科院分区：
文献类型：
--
作者：
Zaitsev, Valentin;Gvirsman, Omer;Kosa, Gabor
无人驾驶地面车辆大多是轮式、履带式或腿式的。这些运动机构具有有限的能力来穿越粗糙的地形和高于机器人质心的障碍物。为了提高小型机器人的机动性，有必要扩大其运动步态的多样性。跳跃是自然界解决困难地形中机动性挑战的方法之一。沙漠蝗虫是小型移动的机器人跳跃机构的仿生设计的模型。其基本机制类似于蝗虫后肢的半月突，是通过在微型马达的轴上缠绕一根肌腱状的金属丝，使扭簧翘起。在这项研究中，我们提出了跳跃机构的设计，制造和性能分析的两个示范原型。最先进的跳跃机器人演示器是动力自主的，重23克，能够跳到3.35米的高度，覆盖1.37米的距离。
Unmanned ground vehicles are mostly wheeled, tracked, or legged. These locomotion mechanisms have a limited ability to traverse rough terrain and obstacles that are higher than the robot's center of mass. In order to improve the mobility of small robots it is necessary to expand the variety of their motion gaits. Jumping is one of nature's solutions to the challenge of mobility in difficult terrain. The desert locust is the model for the presented bio-inspired design of a jumping mechanism for a small mobile robot. The basic mechanism is similar to that of the semilunar process in the hind legs of the locust, and is based on the cocking of a torsional spring by wrapping a tendon-like wire around the shaft of a miniature motor. In this study we present the jumping mechanism design, and the manufacturing and performance analysis of two demonstrator prototypes. The most advanced jumping robot demonstrator is power autonomous, weighs 23 gr, and is capable of jumping to a height of 3.35 m, covering a distance of 1.37 m.