Experimental study on the displacement mechanism of a hopping locamotion mechanism

LU Yong-kui; WU Yue-hua; YANG Jie; AOYAMA Hisayuki

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Experimental study on the displacement mechanism of a hopping locamotion mechanism

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- Experimental study on the displacement mechanism of a hopping locamotion mechanism
- Optics and Precision Engineering Vol. 11, Issue 3, Pages: 281-286(2003)
- 作者机构：
  
  1. 中国科学技术大学, 精密机械与精密仪器系,安徽合肥,230026
  2. 日本国电气通信大学, 智能机械工学科, 东京都调布市, 182-8585
- 作者简介：
- 基金信息：
- DOI：
  CLC： TH112.93
- Received：10 January 2003，
  
  Revised：17 March 2003，
  
  Published Online：15 June 2003，
  
  Published：15 June 2003
- 稿件说明：
移动端阅览
卢永奎, 吴月华, 杨杰, 青山尚之. 跳跃式移动机构的移动机理及实验研究[J]. 光学精密工程, 2003,(3): 281-286

LU Yong-kui, WU Yue-hua, YANG Jie, AOYAMA Hisayuki . Experimental study on the displacement mechanism of a hopping locamotion mechanism[J]. Editorial Office of Optics and Precision Engineering, 2003,(3): 281-286
卢永奎, 吴月华, 杨杰, 青山尚之. 跳跃式移动机构的移动机理及实验研究[J]. 光学精密工程, 2003,(3): 281-286 DOI：

LU Yong-kui, WU Yue-hua, YANG Jie, AOYAMA Hisayuki . Experimental study on the displacement mechanism of a hopping locamotion mechanism[J]. Editorial Office of Optics and Precision Engineering, 2003,(3): 281-286 DOI：

摘要

介绍了一种新型跳跃式移动机构

阐述了该机构的移动机理及其控制方法.跳跃式移动机构采用小型振动电机作为驱动

利用电机内偏心轮的旋转所产生的周期性的向心力及与工作表面的间歇性摩擦力的共同作用

实现机构的跳跃移动

两个不同放置位置的电机的组合运用

可实现机构可调速的直线运动和回转运动

通过一系列实验.验证了跳跃式移动机构可实现二维平面内的自由移动.

Abstract

The displacement mechanism of a new hopping locomotion mechanism driven by small vibratory motors is detailed. The joint application of the periodical centripetal force generated by the rotation of the ecentric inside the motor and the intermittent friction with the working surface brings about the hopping locomotion of the mechanism. The combined operation of the two motors located in different positions makes the linear movement and rotation of the mechanism at adjustable speeds possible. It is verified through a series of experiments that the hopping locomotion mechanism can freely move in a 2D plane.

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references

松岗.反复跳跃运动的机械模型[M].日本:东大出版社,1979.251.MATUOKA. Repeated hopping locomotion mechanism [M]. Japan: Publishing Company of University, Tokyo,1979. 251. (in Chinese)

庞国仲.自动控制原理[M].北京:中国科学技术大学出版社,1998.PANG G ZH. Principle of automatic control system [M]. Beijing: Publishing Company of USTC, 1998. (in Chinese)

卢永奎,许旻,吴月华,等.微型机器人蛇行游动机构的系统仿真[J].光学精密工程,2001,9(6):542-547.LU Y K, XU M, WU Y H, et al. System simulation of snake traveling mechanism[J]. Optics and Precision Engineering, 2001,9(6) :542 547. (in Chinese)

徐小云.微型六足仿生机器人及其三角步态的研究[J].光学精密工程,2002,10(4):392-396.CHEN X Y. Research on miniature hexapod bio-robot and its tripod gait[J]. Optics and Precision Engineering,2002,10(4): 392-396. (in Chinese)

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DU Jun-feng

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Institute of Optics and Electronics, Chinese Academy of sciences, Chengdu 610209, China

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