Research On Motion Characteristics Of Small Jumping Robot Based On Electromagnetic Drive

Jumping robots have many advantages such as stronger obstacle surmounting and faster avoiding danger in complex environment,attracting many researchers.The research on the structure,drive and control of jumping robots has become a hot topic.For special environments such as water surface and ruins,traditional jumping robots can no longer be used only by optimizing the structure.Therefore,it is of great importance to study a new type of small jumping robot driven and realize its controllability to broaden the field of robot operation.In order to design a small jumping robot that can be controlled on the basis of jumping,load-bearing,steering and other multi-movement capabilities,this paper studied and compared a variety of driving schemes and chose electromagnetic driving method with better controllable performance,based on this principle,related research was carried out on the actuator and robot.The specific research contents are as follows.(1)According to the jumping movement and the traditional jumping robot joint structure design method,a more compact jumping model is proposed,and an electromagnetic actuator is designed based on the principle of electromagnetism,and the main structural parameters of the actuator are determined by combining simulation and experiment.(2)The dynamic equation in the process of actuator movement is established,and the mapping relationship between excitation current and jump height is derived;the coupling relationship between the excitation size and the driving frequency is studied and the optimal parameters are obtained;the steering process of robot is analyzed based on differential method.(3)The hardware/software system for controlling the robot is built,and multiple motion performances of the actuator and the robot are tested.The final experimental results show that the maximum jump height of the actuator is 92 mm;maximum load is 19 g;the robot has the fastest movement speed of 98 mm/s under the composition of the electromagnetic driver;the maximum jump height of the robot is 70 mm;the maximum load of the robot is 55 g;the maximum jump distance of the robot is 75 mm,and the controllable continuous steering of20 ° in left and right directions is realized.Finally,compared with similar robots,the robot in this paper has made progress in speed,load capacity and controllability.