旋翼无人机仿生栖息机械臂设计

刘九庆; 刘凡; 朱斌海

旋翼无人机仿生栖息机械臂设计

东北林业大学机电工程学院

基金项目:

油茶轻简栽培关键技术装备研发(2022YFD2202101)

详细信息

作者简介:
刘九庆,博士,教授。研究方向为林业智能装备、农林机械设计。E-mail:nefujdljq@163.com

中图分类号: V279
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出版历程
- 收稿日期: 2024-03-07
- 刊出日期: 2024-07-14

Design of Bionic Perching Robotic Arm for Rotor Drone

College of Mechanical and Electrical Engineering, Northeast Forestry University

摘要

摘要: 为满足旋翼无人机执行林区内定点监测、侦查等任务，通过对鸟类栖息过程研究及腿足仿生研究，设计一种仿生栖息机械臂。对整机进行模块化设计及运动学分析，腿部模块使用机械系统动力学自动分析（Automatic Dynamic Analysis of Mechanical Systems,ADAMS）进行运动学轨迹仿真，爪部模块使用D-H(Denavit-Hartenberg)参数法取得趾尖运动学方程，通过MATLAB仿真得到爪部模块趾尖的工作空间点云分布。制作样机搭建试验系统，分别对趾部活动范围以及整机栖息能力进行试验验证。该设计结构简单，易操控，可完成试验室阶段的栖息行为。
- 仿生设计 /
- 栖息机构 /
- 绳驱动 /
- 计算机仿真
Abstract: To meet the requirements of fixed-point monitoring and reconnaissance tasks within forest areas by rotary-wing drones, a bionic perching robotic arm is designed through the study of birds’ perching processes and the bionic research of legs and feet. The modular design and kinematics snalysis of the whole machine are carried out. The leg module employs Automatic Dynamic Analysis of Mechanical Systems（ADAMS） for kinematic trajectory simulation, while the claw module uses the D-H（Denavit-Hartenberg） parameter method to obtain the kinematic equation of the toetip. The workspace point cloud distribution of the claw module’s toetip is derived through MATLAB simulation. A prototype is fabricated to establish an experimental system, which is then used to verify the activity range of the toe part and the overall perching capability of the machine. This design is simple and easy to control, capable of completing perching behavior in the laboratory stage.
- Bionic design /
- perching mechanism /
- tendon-driven /
- computer simulation

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参考文献(16)

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