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仿蝗蟲機器人運動形態(tài)的三維動態(tài)仿真
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    摘要:

    研究了黃脛小車蝗的形態(tài)結(jié)構(gòu),，采用高速攝影技術(shù)對黃脛小車蝗的跳躍特征進行了分析,，得到了黃脛小車蝗的跳躍特征參數(shù),。利用虛擬樣機技術(shù)，建立了仿蝗蟲機器人的虛擬樣機模型,，通過三維動態(tài)仿真，分析了跳躍運動狀態(tài)下位移,、速度,、加速度、作用力和力矩的變化,，討論了仿蝗蟲機器人的跳躍特性,，獲得了仿蝗蟲機器人虛擬樣機模型的最優(yōu)結(jié)構(gòu)參數(shù)。

    Abstract:

    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 gained. 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.

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陳勇,陳東輝,佟金,陳秉聰.仿蝗蟲機器人運動形態(tài)的三維動態(tài)仿真[J].農(nóng)業(yè)機械學(xué)報,2007,38(9):151-154.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(9):151-154.

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