Research On Jumping Mobile Robot With Deforming Wheeled Mechanism

For the disaster relief environment,robots used for emergency have replaced humans to complete the corresponding work gradually.The mobile modes of robots can be divided into wheeled,caterpillar,jumping and legged.On the flat ground,wheeled robots can move quickly;on the rough ground,jumping robots can cross large size obstacles easily.Therefore,,a wheeled jumping mobile robot with deforming wheeled mechanism combining with jumping and wheeled movement is designed.Based on bionics,the frog's jumping principle is studied.Based on this principle,a symmetrical crank-slider mechanism model of frog-double legs is simplified and designed by using four-bar mechanism.Aiming at the specific requirements of mobility and jumping performance,a new type of wheeled-leg compound jumping mechanism is proposed combining wheeled mechanism with simplified models,which is named deforming wheeled mechanism.The robot can complete the jumping performance by using screw drive to control the shape change of the deforming wheeled mechanism;the robot can complete the wheeled movement and simple obstacle surmounting by using variable speed gear.The robot can be switched at anytime in two modes of jumping and wheeled movement.The jumping model of the deforming wheeled mechanism is established.The important factors affecting the jumping performance of the deforming wheeled mechanism are analyzed in the four different stages.The mechanical model of the robot and deforming wheeled mechanism are established,the force acting on the mechanism during jumping stage is analyzed,and the relationship between the jumping force and the displacement of the mechanism is obtained;the jumping performance of the robot is analyzed,and the relationship between the jumping height and the distance of the robot is obtained;the position and attitude adjustment mode of the robot at the landing time are analyzed,and the change of velocity and angular velocity of the robot during landing and its influencing factors are obtained.The necessary and sufficient conditions for the robot to complete the jumping performance are studied and the pose adjustment and control methods of the two-dimensional and three-dimensional jump of the whole robot are studied.The experimental prototype and experimental platform were built to carry out the experiment of deforming wheeled mechanism jumping,the robot wheeled movement,the robot wheel obstacle and the robot jumping.The experimental results verify the rationality of the design of the robot,the feasibility of moving,obstacles and jumping.