Research On Hopping Robot's Dynamics Analysis And Control

Because of the speciality of the hopping robot's movement,it becomes the hot topic to research the hopping robot. Specially, it has a bright future to use hopping robot in outer space explore,military affairs. Doing research to the framework and model's dynamics have become the pre-requisite and the key problem for making the hopping robot.First of all, on the base of referring dozens of references of hopping robot home and abroad, this paper summarized the basic theory of the research on the hopping robot. It brings several models of the hopping robot, researching on the rules of the movement, and imitating the models in the ADAMS. The whole process of the spring and two-mass model of hopping robot was analyzed. On the bases, we present a new type of the hopping machine that imitates the jumping of the grasshopper, which is touched off by the torsion-spring. Judging from the result of the imitation,the design is effective. Dynamics analysis relates to Lagrange,machine vibration and it's application.Another part of the research is about the control of the hopping machine. It deals with the modeling and it's explaination,the best control on the dynamics analysis. Especially, we are doing some research on the two freedoms of the vibration, and presenting a prototype of the hopping machine. Considering the disadvantages of the prototype, we bring forward a new type of control part embed into the spring. To deal with the hopping machine that imitates the grasshopper, it offers solutions for locking the potential energy,abrupt releasing the spring and recovering the gesture.