Design of hopping Mechanism for a kangaroo-bionic robot - 文章详情页

作者：

Zuo, Guoyu (Zuo, Guoyu.) (学者：左国玉) | Liu, Yuwei (Liu, Yuwei.) | Wang, Xinpeng (Wang, Xinpeng.)

收录：

EI Scopus

摘要：

This　paper　presents　a　design　of　a　bionic　robot　inspired　by　the　hopping　locomotion　of　kangaroo　including　the　hopping　and　transmission　mechanisms.　The　jumping　movement　can　be　realized　by　the　hopping　mechanism　while　the　transmission　mechanism　is　used　to　transmit　energy　from　the　power　source　to　the　spring　and　release　energy　when　necessary.　The　kinematic　equations　of　the　robot　at　take-off　phase　are　established.　Characteristics　of　the　displacement　and　the　velocity　of　the　center　of　mass　and　supporting　force　during　take-off　are　analyzed　as　well　as　the　energy　conversion　efficiency　of　the　robot.　The　simulation　results　show　that　the　mechanical　structure　of　the　kangaroo-bionic　hopping　robot　is　well　designed　to　meet　the　bionic　hopping　characteristics　and　has　a　high　energy　conversion　efficiency.　©　2016　IEEE.

关键词：

Machine design Bionics Intelligent control Robots Conversion efficiency

作者机构：

[ 1 ] [Zuo, Guoyu]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing; 100124, China
[ 2 ] [Zuo, Guoyu]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing; 100124, China
[ 3 ] [Liu, Yuwei]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing; 100124, China
[ 4 ] [Wang, Xinpeng]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing; 100124, China

通讯作者信息：

左国玉
[zuo, guoyu]college of electronic information and control engineering, beijing university of technology, beijing; 100124, china;;[zuo, guoyu]beijing key laboratory of computational intelligence and intelligent system, beijing; 100124, china

电子邮件地址：

zuoguoyu@bjut.edu.cn

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