仿蝗虫跳跃机器人空中姿态自调整技术及着陆稳定性研究

For the efficient obstacle surmounting ability, jumping robots have a broad application prospect in many fields such as space exploration, military surveillance and anti-terrorism. But jumping robots encounter the troubles of unavoidable tumble and unexpected attitude in the air, which causes uncontrollable landing attitude. The locust provides biological inspiration to solve these difficulties, because it can keep attitude stable in the air and land softly. Then the locust attitude adjustment mechanism and the landing buffer mechanism of its hind legs will be revealed. Furthermore, core technologies will be broken through, including the mechanical design and stable control of the bio-mimetic attitude adjusting mechanism and landing buffer mechanism. Finally, a bionic jumping prototype will be developed to validate and improve the above movement mechanism and key technologies. Based on visual wind tunnel experiment and aerodynamics analysis, the dynamic model of locust attitude adjustment by integrated movement of wings and abdomen will be established with rigid-flexible combination. In the same way, the landing buffer model of the jumping hind legs will be presented. Then, an attitude self-adjustment mechanism that integrates the rigid- flexible coupling folding wings and the bionic flexible abdomen will be designed and the motion sequence will be programmed. Moreover, the buffer mechanism with damping materials will be built. Consequently, a prototype will be developed to realize attitude self-adjustment in the air and soft landing. From the aspect of mechanism dynamics, this study will certainly reveal the locust attitude self-adjustment mechanism and the landing buffer mechanism, which provide the theory basis and technical support for the design of a practical jumping robot.

跳跃机器人因其高效的越障性在星际探测、军事侦察及反恐等领域具有广阔的应用前景。针对跳跃机器人空中姿态失稳及着陆冲击大易倾覆的问题，受蝗虫跳跃时保持姿态稳定而不会翻转的启发，开展蝗虫跳跃的空中姿态自调整及着陆缓冲运动机理分析；突破仿蝗虫空中姿态自调整机构、着陆缓冲机构设计及稳定控制等关键技术；研制仿蝗虫跳跃机器人原理样机，验证和完善上述运动机理与关键技术。 基于可视化风洞实验与气动力学分析，采用刚柔一体化建模方法，建立非完整约束下蝗虫扑翼与柔性腹部运动综合姿态调整的动力学模型，以及着陆后腿的刚柔混合缓冲模型，设计集成刚柔混合折叠翼与仿生柔性腹部的复合姿态调整机构，并进行运动序列规划，设计材料与结构一体化的刚柔缓冲机构，构建机器人原理样机，实现姿态自调整与软着陆。 从机构动力学角度揭示了蝗虫跳跃的空中姿态自调整及着陆缓冲运动机理，为设计具有姿态稳定的跳跃机器人提供理论依据和技术支撑。

跳跃机器人凭借其高效的弹跳越障能力在星际探测、战场侦察和反恐防暴等领域具有广阔的应用前景。本项目以蝗虫为仿生对象，开展了蝗虫跳跃过程中空中姿态自调整及着陆缓冲运动机理、姿态自调整机构设计及控制、后腿缓冲机构设计及稳定性等核心基础技术研究，研制了仿蝗虫跳跃机器人原理样机，验证了空中姿态自调整及着陆缓冲运动机理与基础技术。.（1）建立了非完整约束下蝗虫扑翼与柔性腹部运动综合姿态调整的动力学模型，分析了翅膀不对称拍动对身体俯仰及滚转姿态的影响，揭示了蝗虫空中姿态调整的方式及着陆缓冲机理；观测了蝗虫跳跃缓冲过程，通过牛顿-欧拉法建立了蝗虫后腿等效机构的动力学模型，研究了蝗虫稳定着陆时的缓冲机理及其着陆稳定性。.（2）设计了仿生扑翼及腹部摆动机构实验平台，进行了左右翅膀同步与不同步拍动以及腹部摆动的实验，完成了仿生复合姿态自调整机构的性能分析，开展了仿生翼与柔性腹部的复合姿态调整机构的设计及控制研究；分析了蝗虫姿态调整的运动序列，完成了复合姿态调整机构的控制研究。.（3）设计了仿生后腿的材料、结构一体化刚柔混合缓冲机构，建立了仿生缓冲腿、多约束缓冲腿及弧形缓冲腿三种典型缓冲腿机构刚柔耦合运动学和动力学模型，进行了材料与结构缓冲一体化分析；提出了基于动态倾覆角的着陆动态稳定性评价方法，完成了缓冲机构着陆过程关节协调运动控制方法与稳定性研究。.（4）设计了仿蝗虫跳跃机器人原理样机，实现了复合姿态调整机构、着陆缓冲机构和嵌入式控制系统集成；开展了姿态调整实验、着陆缓冲实验和空中姿态调整与着陆一体化实验，实验结果表明不仅可以调整并保持空中姿态稳定，而且具有着陆平稳和冲击小的特点，实现了软着陆。.本项研究从机构学与控制理论的角度进一步揭示了蝗虫的空中姿态调整与着陆缓冲运动机理，为设计高效实用的仿蝗虫跳跃机器人提供理论依据和技术支撑。