Research On Several Critical Technique About The Jumping Robots

The hopping robots are only under research at present. Because of their great moving capacities such as jumping over big obstacles, walls and ditches, this kind of robots has a wide application. Especially in the military affairs, the hopping robots can act as unmanned weapons to spy, attack or aim at the enemy's goals. So many researching departments in many countries focus much attention on this field. Yet few robots can be applied to war field presently because they are too hard to develop. All the relevant documents are kept secret and difficult to find. In this paper, the hopping robots are researched for the first time in our country, and the effort in this field will greatly benefit to the special mobile robots and their application in the military affairs. The main contents and innovations in the paper are as follows: 1. In country, starting the research about the hopping robots for the first time. Based on a small quantity of open information, nine solutions are brought forward, in which two jumping machines with single and six shanks have been analyzed, developed and tested. 2. An issue is studied about the jumping sequences planning and controlling under the tough landform. A heuristic searching algorithm is applied to the sequences planning and the finite state machine and neural network are attempted to the control system. On this basis, a remote control solution is implemented by combining GPRS with Internet. 3. The inherent rules of five typical jumping machines are exposed after setting up their model and analyzing their kinetic and dynamic characters. And two issues of the falling collision and energy consumption are studied deeply, then two solutions are presented that adding the cushion material under the hopping foot and adding time for energy accumulation to improve the jumping ability. 4. Based on deep analysis of two jumping machines, some novel machines are designed. These machines include: energy-locked mechanism with ball bearings, energy-released mechanism with partial gears and overrunning clutch, re-arising mechanism with self-recovering spheres or gimbals. They offer solutions for locking the potential energy, abrupt releasing the spring and recovering the gesture. The study is supported by project of National Natural Science Foundation "vision/mechanics/displacement combined detection and control technology for the intelligent micro mechatronic system"(Project No. 50275078), and the innovation foundation of NUAA (Project No. S0276-053). The primary results have passed the evaluation for the fundamental project of Commission of Science Technology Industry and achieved its project fund (Project No. B0403-053)...