基于松鼠腿部特性的跳跃机理研究与仿生设计

王永健，冯宝林，殷  磊

(1.中国科学技术大学，安徽 合肥 邮编230026；2. 中国科学院合肥物质科学研究院，安徽 合肥 邮编230031)

摘要：基于松鼠优秀的跳跃性能，分析其起跳过程中腿部的生理结构和运动机理，仿生设计出一种柔性跳跃机构。首先分析松鼠后腿骨骼、关节和肌肉的生物特征，建立生物运动模型，测量并分析起跳阶段各关节角度的变化规律。根据生物运动模型简化得到其机构运动模型，对模型进行运动学和动力学分析仿真，通过数值计算验证了运动模型的正确性。考虑松鼠后腿的弹性肌肉和柔性长脚在起跳阶段的重要作用，仿生设计一种柔性跳跃机构，通过虚拟样机的仿真分析，验证了机构的可行性，为进一步研究松鼠腿部变机械增益机构，提高跳跃运动效率奠定基础。

关键词：仿松鼠跳跃；跳跃机器人；运动学分析；动力学分析；柔性跳跃机构

中图分类号：TH11                       文献标志码： A                   文章编号：1007-4414（2018）06-0158-05

Research on Jumping Mechanism and Bionic Design Based on Characteristics of Squirrel Leg

WANG Yong-jian, FENG Bao-lin, YIN Lei

（1. University of Science and Technology of China, Hefei 230026, China.；2.Hefei Institutes of Physical Science, Chinese Academy of Science, Hefei 230031, China）

Abstract: Based on the excellent hopping performance of squirrels, the physiological structure and hopping mechanism of the legs during  take-off were analyzed, and a flexible hopping mechanism was presented. First, the biological characteristics of the bones, joints and muscles of the squirrels’ leg were analyzed to establish the biological movement mode and the regulation of the joint angles during take-off  was measured and analyzed. The kinematical and  kinetic analysis of the mechanism during take-off was implemented based on the mechanism movement model and the correctness  of the  model are verified by numerical calculation. Considering the important effect of the elastic muscles and flexible long legs of the squirrel hind legs during take-off , a flexible hopping mechanism was designed by bionics and verified by the simulation analysis of the virtual prototype, which  provides a valued basis for further research of  variable mechanical advantage mechanism of the squirrel leg and improvement of  hopping efficiency.

Key  words: Squirrel-like hopping; Hopping robot; Kinematic analysis; kinetics analysis; Flexible hopping mechanism