【作者】 张克通；

【导师】 王化明；

【作者基本信息】 南京航空航天大学 ， 机械电子工程， 2010， 硕士

【摘要】 弹跳机器人可以越过尺寸远大于自身尺寸的障碍物,具有较强未知地形适应能力,在考古探测、抢险救灾、军事侦察等领域具有广泛的应用前景。将轮式运动与弹跳运动相结合,弹跳机器人可以根据地形需要选择合适的运动方式,提高能源利用率,扩大机器人活动范围。因此轮式移动弹跳机器人具有十分重要的研究价值。根据现有两种类型弹跳机构性能的比较,确定了弹跳机构的能源类型。在对内能驱动型弹跳机构原理进行分析的基础上,运用三维参数化建模软件Pro/E完成了间歇式单动内燃机弹跳机构的结构设计,并制造出物理样机。根据弹跳机构的要求确定丙烷和笑气(N2O)为燃料,对混合燃料气体的爆炸极限、爆温、爆压等进行了分析计算,为间歇式单动内燃机弹跳机构的分析与试验提供依据。运用有限元分析软件ANSYS高级分析技术APDL开发了专用的分析程序,对间歇式单动内燃机锁紧机构锁紧力与活塞位移关系及活塞在高压下的结构应力应变进行了有限元仿真分析,为弹跳机构的设计提供依据。以间歇式单动内燃机作为弹跳机构,对复合了轮式移动运动方式的弹跳机器人的原理和结构进行了设计,制造出了轮式移动弹跳机器人物理样机。对间歇式单动内燃机弹跳机构和轮式移动弹跳机器人进行了试验验证。对间歇式单动内燃机弹跳机构的气密性、柱塞复位、锁紧机构最大锁紧力、热火头点火冷启动等进行了试验研究。在此基础上,进行了机器人轮式移动试验与弹跳越障试验。试验结果表明:机器人具有弹跳与轮式运动两种运动方式,弹跳运动可靠,弹跳高度可达1.5m,弹跳距离达1.5m。更多还原

【Abstract】 Hopping robot can get across the barrier whose size is much larger than hopping robot’s size, it adaptes well to to unknown terrain and has extensive application prospect in field of archeological exploration, emergency service and disaster relief, military reconnaissance and so on. Puting the wheeled motion and hopping motion together, hopping robot can choose the right motion mode according to the terrain to improve the energy utilization efficiency and enlarge the range of motion of robot. So, wheeled hopping robot has very important research value.According to the capability comparison of two type of hopping mechanisms, type of hopping robot’s energy sourse is confirmed. Based on the analysis of principle of internal-energy-driven hopping mechanism, the structure of intermittent single-action internal-combustion engine hopping mechanism is designed by using three dimension parametric design software Pro/E, and then the physical prototype of intermittent single-action internal-combustion engine is manufactured.According to the needs of hopping robot, propane and laughing gas （N₂O） are choosed as fuel and explosion limit, detonation temperature, detonation pressure of mixed fuel gas are analysed and calculated to provide evidence for analysis and experiment of intermittent single-action internal-combustion engine hopping mechanism.ANSYS’s advanced analysis technology-APDL （ANSYS Parametric Design Language） is used to develop special analysis programs for the parametric finite element analysis of force-displacement curve of locking mechanism and maps of stress and stain of piston under high pressure, which provide evidence for the design of hopping mechanism.Using intermittent single-action internal-combustion engine as hopping mechanism, the working principle and structure of hopping robot with wheeled motion are designed, and physical prototype of intermittent single-action internal-combustion engine is also manufactured.Experimental verification of intermittent single-action internal-combustion engine hopping mechanism and wheeled hopping robot are done. Experimental researches on air tightness, replacement of plunger piston, maximal locking force of locking mechanism, glow plug ignition cold start and so on of Intermittent single-action internal-combustion engine are done. On this basis, the ability of the wheeled motion and hopping motion across the barrier of wheeled hopping robot are also experimentally studied. The results show that the robot has the ability of wheeled motion and hopping motion, and the hopping motion is reliable, the hopping height is about 1.5meter, the hoppinig displacement is also about 1.5meter.更多还原