priborИзвестия высших учебных заведений. ПриборостроениеJournal of Instrument Engineering0021-34542500-0381Национальный исследовательский университет ИТМО10.17586/0021-3454-2022-65-3-174-184pribor-228Research ArticleПРОЕКТИРОВАНИЕ АДАПТИВНЫХ И ЭНЕРГОЭФФЕКТИВНЫХ РОБОТОТЕХНИЧЕСКИХ СИСТЕМDESIGN OF ADAPTIVE AND ENERGY-EFFICIENT ROBOTIC SYSTEMSПроектирование неполноприводного прыгающего робота с гибкими сочленениямиDesign of an underactuated jumping robot with flexible jointsНасоновК. В.NasonovK. V.

Насонов Кирилл Вячеславович — магистрант; факультет систем управления и робототехники, лаборатория биомехатроники и энергоэффективной робототехники; инженер.

Санкт-Петербург

Kirill V. Nasonov — Graduate Student; ITMO University, Faculty of Control Systems and Robotics, International Laboratory of Biomechatronics and Energy-Efficient Robotics; Engineer.

St. Petersburg

kvnasonov@itmo.ruБорисовИ. И.BorisovI. I.

Борисов Иван Игоревич — канд. техн. наук; факультет систем управления и робототехники, лаборатория биомехатроники и энергоэффективной робототехники; научный сотрудник.

Санкт-Петербург

Ivan I. Borisov — PhD; ITMO University, Faculty of Control Systems and Robotics, International Laboratory of Biomechatronics and Energy-Efficient Robotics; Researcher.

St. Petersburg

borisovii@itmo.ruУниверситет ИТМОITMO University202201122024653174184Copyright © Национальный исследовательский университет ИТМО, 20242024Национальный исследовательский университет ИТМОНациональный исследовательский университет ИТМОhttps://pribor.ifmo.ru/jour/about/submissions#copyrightNoticehttps://pribor.ifmo.ru/jour/article/view/228

Представлены результаты исследования по проектированию и изготовлению прототипа энергоэффективного прыгающего робота с гибкими сочленениями с использованием принципов морфологического расчета. Гибкие элементы позволяют роботам адаптивно подстраиваться к окружающей среде при контактном взаимодействии, перенаправляя энергию взаимодействия с пластической деформации твердых тел в упругую деформацию эластичных тел, что способствует рекуперации энергии в системе. В отличие от традиционных низших и высших кинематических пар, гибкие сочленения обеспечивают перемещения звеньев только в ограниченном диапазоне в пределах зоны упругой деформации. Решена задача проектирования эластичных полимерных перекрестных сочленений на примере плоского механизма ноги неполноприводного прыгающего робота замкнутой кинематики, приводимого в движение от единственного серводвигателя с присоединенными последовательно эластичными элементами. При синтезе такого робота необходимо оптимизировать не только кинематические параметры рычажного механизма, но и топологию и эластостатические параметры самих эластичных сочленений.

Results of a study on the design and manufacture of a prototype of an energy-efficient jumping robot with flexible joints using the principles of morphological calculation are presented. Flexible elements allow robots adaptation to the environment during contact interaction, redirecting the interaction energy from the plastic deformation of solids to the elastic deformation of elastic bodies, which contributes to energy recovery in the system. Unlike traditional lower and higher kinematic pairs, flexible joints provide movement of links only in a limited range within the elastic deformation zone. The problem of designing elastic polymer cross joints is solved by the example of a flat leg mechanism of an incomplete jumping robot of closed kinematics, driven by a single servo motor with elastic elements connected in series. When synthesizing such a robot, it is necessary to optimize not only the kinematic parameters of the lever mechanism, but also the topology and elastic-static parameters of the elastic joints themselves.

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The authors declare that there are no conflicts of interest present.