| Related citation: | Rui Zhang,Hao Pang,Yuan He,Dianlei Han,Lige Wen,Lei Jiang,Jianqiao Li.Bionic Design and Simulation Analysis of Energy-Efficient and Vibration-Damping Walking Mechanism[J].Journal of Harbin Institute Of Technology(New Series),2021,28(4):16-24.DOI:10.11916/j.issn.1005-9113.19116. |
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| Author Name | Affiliation | | Rui Zhang | Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China | | Hao Pang | Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China | | Yuan He | Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
Changchun Changguang Ruishi Photoelectric Technology Co., Ltd, Changchun 130102, China | | Dianlei Han | Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China | | Lige Wen | School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130022, China | | Lei Jiang | North Vehicle Research Institute, Beijing 100072,China | | Jianqiao Li | Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China |
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| Abstract: |
| African ostrich can run for 30 min at a speed of 60 km/h in the desert, and its hindlimb has excellent energy saving and vibration damping performance. In order to realize the energy-efficient and vibration-damping design of the leg mechanism of the legged robot, the principle of engineering bionics was applied. According to the passive rebound characteristic of the intertarsal joint of the ostrich foot and the characteristic of variable output stiffness of the ostrich hindlimb, combined with the proportion and size of the structure of the ostrich hindlimb, the bionic rigid-flexible composite legged robot single-leg structure was designed. The locomotion of the bionic mechanical leg was simulated by means of ADAMS. Through the motion simulation analysis, the influence of the change of the inner spring stiffness coefficient within a certain range on the vertical acceleration of the body centroid and the motor power consumption was studied, and the optimal stiffness coefficient of the inner spring was obtained to be 200 N/mm, and it was further verified that the inner and outer spring mechanism could effectively reduce the energy consumption of the mechanical leg. Simulation results show that the inner and outer spring mechanism could effectively reduce the motor energy consumption by about 72.49%. |
| Key words: bionics engineering bionic mechanical leg passive rebound characteristic rigid-flexible composite structure energy-efficient and vibration-damping |
| DOI：10.11916/j.issn.1005-9113.19116 |
| Clc Number:TB17 |
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| Descriptions in Chinese: |
| 节能减振步行机构的仿生设计及仿真分析 张锐1，庞浩1，何远1，2，韩佃雷1，文立阁3，江磊4，李建桥1 （1. 吉林大学 工程仿生教育部重点实验室，长春 130022； 2. 长春长光睿视光电技术有限责任公司，长春 130102； 3. 吉林大学 机械与航天工程学院，长春 130022； 4. 中国北方车辆研究所，北京 100072） 摘要：非洲鸵鸟能以60 km/h的速度持续奔跑30分钟，其后肢结构具有优良的节能、减振性能。为实现腿式机器人高效节能、缓冲减振的腿部机构的设计，根据鸵鸟跗骨间关节的被动回弹特性以及腿部的输出刚度可变特性，结合鸵鸟后肢结构的比例和尺寸，设计出了仿生刚-柔复合腿式机器人单腿结构。并且利用ADAMS软件模拟了仿生机械腿的运动。通过运动仿真分析，研究了内弹簧刚度系数在一定范围内的变化对机身质心垂直加速度以及电机功耗的影响，获得最佳的内弹簧刚度系数为200 N/mm，并进一步验证了内外弹簧机制能够有效地降低机械腿的能耗。仿真结果表明，采用内外弹簧机制能够有效降低电机约72.49%能耗。 关键词：工程仿生；仿生机械腿；被动回弹特性；刚-柔复合结构；节能减振 |
