在灾后救援、大型机械装备检修等场景,仿生机器“昆虫”大有可为,业界一直在寻找适配的高效动力系统。北京航空航天大学科研团队,成功实现微型动力技术新突破,并基于此研发出一款仿生“昆虫”,实现了昆虫尺寸(2厘米)机器人的脱线可控爬行。相关成果近日在国际学术期刊《自然·通讯》发表。
图为北航科研团队研发的微型机器“昆虫”。(受访者供图)
置身一堆小石块儿间,这款四足机器“昆虫”行动矫健、穿梭自如,仿若甲壳虫。文章共同通讯作者、北航能源与动力工程学院教授闫晓军介绍,该机器“昆虫”身长2厘米、宽1厘米、重1.76克,垂直投影面积仅两个指甲盖大小,具有快速机动、高载重、无线可控等特性。
尺寸虽小,“五脏”俱全。其中,动力系统是机器人的“心脏”。普通机器人通常靠电动机驱动,对供能要求较高,而微型机器人内部空间不足以承载大容量电池,需外接通电线持续供电,其自由移动因此受限。北航科研团队历经多年研究,开发出基于直线式驱动、柔性铰链传动的新型动力系统,让微型机器人成功摆脱电机与外接电线。
“在机器‘昆虫’内,我们植入了能源、控制、通讯和传感系统。直线式驱动器将‘体内’小型电池输入的电能,转化为机械能,并向外输出机械振动;柔性铰链传动机构,将机械振动转换为机器‘昆虫’腿部的周期振动,进而带动整个机体实现高频弹跳运动。”团队成员、北航助理教授刘志伟说,“通俗讲,‘体内’微型电池完成电生磁,促使一旁的磁铁振动,再带动腿部关节运动。”
图为北航科研团队研发的微型机器“昆虫”爬行动图。(受访者供图)
北航博士生、团队成员詹文成介绍,科研团队还设计了仿生奔跑步态,通过机器“昆虫”步频和步幅的自适应调节,实现高载重下快速爬行;提出基于机器“昆虫”双腿振动频率差的控制方法,实现运动轨迹精确控制。
闫晓军表示,这一微型动力技术的成功研发,有望推动微型机器人大范围开发和应用,助力灾后搜救、大型机械设备和基础设施损伤检测等。
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