仿岩羊攀岩爬行机器人设计研究

项目名称： 仿岩羊攀岩爬行机器人设计研究

项目编号： No.51305009

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 机械、仪表工业

项目作者： 徐坤

作者单位： 北京航空航天大学

项目金额： 26万元

中文摘要： 我国是多山地国家，迫切需要研究用于山地环境攀爬行走的特种作业机器人，以协助完成山地环境探测监测，灾难救援以及边境巡逻警戒等任务。岩羊是一种善于攀岩爬行的山地动物,具有攀爬行走灵活,步态稳定,落地面积小、能量消耗低等优点，可作为用于山地环境攀爬行走仿生机器人的模仿对象。 本项目将以岩羊为仿生参考对象，通过借鉴其身体结构、行为与功能特征，探索并揭示其山地环境攀爬行走附着移动机理，提出四足仿岩羊攀岩爬行机器人机构的设计理论与方法，解决仿岩羊机器人机构构型与尺度综合、驱动机制及大附着力、低冲击仿生足的设计等基础性关键科学问题。并研制仿岩羊攀岩爬行机器人原理样机一台，实验验证本课题所提出仿生设计原理和方法。项目研究成果对足式仿生机器人机构构型设计理论的发展及其应用有着重要的指导意义。

中文关键词： 仿生机器人；仿生足；岩羊；攀爬机理；构型设计

英文摘要： China is a moutainous country.There is an urgent need to study specialized robot for climbing and crawling in mountain environment to do some work instead of human, such as exploration, disaster searching and patrol guard.The blue sheep is the animal good at climbing and jumping, with the advantages of high-running-speed, gait stability, small landing area, low energy consumption, so it can be taken as biomimetic object for the bionic robot used in mountain environments. This proposal is going to take blue sheep as reference, according to its physical characteristics such as structure, motion and function, to study and reveal the climbing and adhering mechanism in complex mountain environment, to propose the design principle and method of quadruped biomimetic robot like blue sheep climbing and crawling,to solve the key scientific issues such as mechanism configuration, dimension synthesis, driving mechanism and foot design of biomimetic robot like blue sheep.We will develope a prototype of biomimetic robot which can climb and crawl like blue sheep in mountain environment and do some experiments to verify the correctness of the design principle and method.The achievement of this project will promote the development of biomimetic robot mechanism configuration design theory and its application.

英文关键词： bio-robot；bionic foot；blue sheep；climbing mechanism；configuration design