仿灰松鼠跳跃机器人的功率调制运动机理及实现方法研究

Hopping robots have a promisingly wide application, due to its excellence in obstacle surmounting and environmental adaptation. Thus, It is valuable to enhance hopping agility and study the controlling method of leaping locomotion. Power modulation mechanism and variable mechanical advantage behavior at squirrel knees contributes to excellent hopping agility of squirrels, which is an invaluable inspiration for designing hopping robots. This project aims at revealing the mechanism by which variable mechanical advantage exerts influence on jumping performance of sciurus vulgaris (chinese squirrels) . The inherent biological theory of power modulation for hopping will be studied according to the rigid-flexible coupling dynamics model of hopping locomotion of squirrels, which is established on the basis of musculo-skeletal-tendon model and force-velocity relationship for muscles, for the purpose of establishing a design method for power modulation hopping mechanisms. The mechanism to control and adjust hopping trajectories and maneuvers will be studied, for the sake of designing corresponding adjusting mechanisms. The controlling system based on combination of Trajectory planning and feedback information will be studied to achieve real-time control of hopping trajectories and maneuvers. Study of this project can realize trajectory-controllable and maneuver- controllable power modulation hopping of robots, thereafter, enhance hopping agility of robots in uneven unconstructed environment. The results achieved in this project can also be used to elucidate effects of variable mechanical advantage at knuckles of other terrestrial animals on their locomotion performance, such as jogging, walking.

跳跃机器人具有高效的越障性及环境适应性，具有广阔的应用前景；提高机器人的跳跃敏捷性、研究跳跃运动控制方法具有重要意义。灰松鼠膝关节的变机械增益特性及功率调制跳跃机理使其具有优异的跳跃能力，为跳跃机器人的设计提供了借鉴。本课题以灰松鼠的功率调制跳跃机制及膝关节处的变机械增益结构为仿生对象，揭示变机械增益现象对运动特性的影响机制；根据灰松鼠腿部的骨骼—肌肉—肌腱模型以及腿部肌肉在跳跃过程中的力学行为，建立刚柔耦合动力学模型，探索功率调制跳跃的内在机理，并建立功率调制跳跃机构的设计方法；研究功率调制跳跃机构进行跳跃轨迹控制、姿态控制的机理，设计相应的调控机构，并建立基于运动轨迹规划与传感器反馈相结合的控制方法，实现对跳跃姿态、轨迹的实时控制。该项目的实施将实现机器人的跳跃轨迹、姿态可控的功率调制跳跃，提高机器人在非结构环境下的跳跃能力；并有助于揭示变机械增益现象对其他运动形式（如跑、走）的影响。

在复杂的非结构环境下，跳跃机器人具有高效的越障能力及机动性，能够有效跨越各种障碍。基于对松鼠后腿的生理结构和跳跃运动机理的研究，开展了仿松鼠跳跃机器人的结构设计、运动学和动力学分析以及虚拟样机仿真和优化等工作，最终制作物理样机并进行实验验证和优化。首先，本文充分调研了国内外跳跃机器人的发展现状，对仿生原型松鼠的生理结构和跳跃运动机理进行了详细的分析，并对松鼠的起跳阶段进行了运动学建模和计算，为后续的仿生设计提供必要的理论依据和设计基础。其次，基于松鼠腿部结构进行仿生机构设计，包括腿部仿生四连杆机构的参数设计、膝关节参数和结构设计、动力和传动系统设计、弹性储能和触发机构设计以及整机模型的装配和结构优化等。再次，基于设计的仿松鼠跳跃机器人模型，使用D-H法进行运动学和动力学建模分析，求解机器人身体位姿和膝关节驱动力矩与关节转角变量之间的函数关系，为后续的运动控制设计提供依据。最后，使用Adams软件对仿松鼠跳跃机器人进行虚拟样机仿真，得到跳跃运动过程中的关键参数，对主要受力结构件进行有限元分析以及强度校核。通过物理样机跳跃试验测试机器人的跳跃性能，并根据实验结果对样机做进一步的优化。综上所述，本文通过仿生理论分析和仿生机构设计，研制出一种仿生跳跃机器人，为本课题后续的研究和优化奠定基础。