仿蝗虫机器人运动形态的三维动态仿真

研究了黄胫小车蝗的形态结构,采用高速摄影技术对黄胫小车蝗的跳跃特征进行了分析,得到了黄胫小车蝗的跳跃特征参数。利用虚拟样机技术,建立了仿蝗虫机器人的虚拟样机模型,通过三维动态仿真,分析了跳跃运动状态下位移、速度、加速度、作用力和力矩的变化,讨论了仿蝗虫机器人的跳跃特性,获得了仿蝗虫机器人虚拟样机模型的最优结构参数。

3D Dynamic Simulation of Motion Morphology of Locust-like Robot

The geometrical configuration of the locust, Oedaleus infernalis, was observed by using the stereomicroscope. The jumping process of the locust was captured by high-speed photography method. The motion morphology of the locust during jumping was analyzed and the jumping parameters were gaimed. The technology of virtual prototype was used to establish the kinematics model of the locust-like robot. Combined with the 3D dynamic simulation, displacement, velocity, acceleration, force and moment of the locust-like robot during jumping were analyzed. The characteristics of the locust-like robot during jumping were discussed. The optimum structural parameters of the virtual prototype of the locust-like robot were obtained, and then the data were provided with the physical prototype in structural design.