Design And Jumping Performance Analysis Of A Wheeled Jumping Robot

With the applications of the robots growing, the robot is facing the increasinglyharsh environments, such as archaeological exploration, interstellar exploration,military reconnaissance and anti-terrorism activities. In that environment, robots musthave a strong and independent athletic ability to adapt to the terrain.The wheeled jumping robots not only have the same simple structure andperformance of control as the wheeled mobile robots, but the high flexibility ofjumping is also considered, which can improve the ability of the robot to adaptvarious complex environment, that can be widely used in industry, agriculture,anti-terrorism riot, space exploration.In this paper, a jumping-off angle adjustable wheeled jumping robot is designed.The liquid carbon dioxide is applied as the power source, and a double-acting cylindertaken as the jumping mechanism, an accurate model of jumping robot is established.Some relevant experiments are carried out for testing the jumping and attitude controlsystem. The work in this paper can be organized as followed:1. The design of mechanical system of the wheeled jumping robotA high performance jumping mechanism is designed, whose jumping angle isadjustable. It has the same athletic ability as wheeled jumping robots. Crank linkagemechanism for adjusting the cylinder is analyzed; the regulation of Crank mechanismis demonstrated in detail. It is also combined with the actual design standards fitjumping trajectory adjustment process, and get the optimal solution according to themotion characteristics of the institution crank linkage mechanism; According to thedesigned mechanical structure with other members of the real, the whole mechanismneeds to be improved, the overall beneficial effect and the process of movement arediscussed. So it is proved that the design of structure is reasonable.2．The research and analysis of jumping robots’ jumping performanceAccording to the research of the movement and models of jumping robots, themovement characteristics of single mass spring models and double mass springmodels are analyzed. Then jumping cylinder model is proposed, meantime, thefeasibility and difficulties of modeling are discussed and analyzed. Based on thethermodynamic and kinematic equations to establish a more precise change in internalpressure from the microscopic equations, and as the establishment of the cylinder bounce is based on it from the macro model. The process of the jumping is simulated,and the motion process of the cylinder jumping is researched. Simulation results showthat the model is the same to the actual movement of the cylinder. Get a quantitativeanalysis of the jumping cylinder. Meanwhile, the study also provides a precisejumping cylinder model.3．The research of jumping robots’ attitude adjustment mechanismJumping robot attitude control in the air is studied and conducted referring to themethod of satellite attitude control. On the basis of analysis and comparison of severalcommon satellite attitude adjustment mechanisms, the control of the flywheel attitudeis confirmed. According to the principle of flywheel attitude control system, thecorrectness of the robot reaction wheel attitude control scheme is analyzed. Thecontrol theories about reaction flywheel and mounting position are researched. Thereaction wheel control system is established, Jumping robots attitude adjustmentprocess use the reaction flywheel are simulated under the torque control mode andspeed control mode. It proves that the control system effective that combined with thesimulation data to analysis the control system on the two control modes.4．The control system design and experimental research of jumping robotThis part introduces the design of control system of jumping robot and simulationexperiment based on virtual prototype. Control system is designed based on a detailedanalysis each subsystem module of wheel jumping robot, it is in according with theactual situation. the appropriate devices are chosen to complete the electrical systemdesign; at the same time, the reaction flywheel attitude control experiment is analyzedby the co-simulation of ADAMS and MATLAB, demonstrates the feasibility offlywheel attitude adjustment mechanism, and points out that the regulation time is toolong, and the nonlinear of zero crossing point is serious defect, which affects theprecision of flywheel attitude control of the jumping robot. Due to the particularity ofjumping robot, the analysis proves that this scheme is still fit to the system.