Structural Design And Analysis Of A New Type Of Jumping Robot

Nowadays,mobile robots appear more and more frequently in our daily life,but in some complicated situations,ordinary wheeled and tracked mobile robots can’t complete the assigned tasks.Therefore,this paper will design and analyze the structure of a new jumping robot that can adapt to complex terrain conditions.The main research contents are as follows:(1)Propose the design goal of the new jumping robot,and combine the advantages and disadvantages of existing jumping robot structure design schemes to determine the structure design scheme of this paper.Six-bar mechanism with single degree of freedom is selected as the actuator,clock-spring as the energy storage mechanism,and a transmission system is built by using a motor,a gear transmission and a speed change mechanism.The parameters of each part of the mechanism are calculated,modeled and assembled,and the overall structure model of the robot is obtained,which provides the structure model foundation for the follow-up research.(2)Kinematics of the actuator is analyzed by analytical method,and the end trajectory of the actuator is calculated.Then,ADAMS software is used to carry out the jumping simulation experiment on the simplified model of the actuator with constant speed input,and the influence of each rod length parameter on the jumping performance of the mechanism is analyzed.By using the variable speed input actuator to improve the jumping performance of the simplified model of the mechanism,the optimal variable speed law is determined,which provides the data basis for the design of the variable speed mechanism.Finally,the key members are analyzed and optimized by finite element method,and the structural strength of key members is verified to meet the requirements.(3)By comparing various transmission mechanisms,the noncircular gear with plane open pitch curve is finally selected to realize variable speed transmission.The variable transmission ratio function of noncircular gear is determined by the optimal variable speed law input into the actuator,and the pressure angle,coincidence degree and pitch curve concavity of noncircular gear are calculated and verified.The non-circular gear is modeled by the method of converted tooth profile,and its kinematics simulation is analyzed.The simulation results are the same as the theoretical calculation,which proves that the model is correct.Using ABAQUS software,the dynamic meshing finite element analysis of noncircular gears is carried out,and it is verified that the strength of gears meets the requirements.(4)A comparative simulation experiment is carried out on the virtual prototype of the new jumping robot.In the comparative experiment,the noncircular gear is used as the only variable.The simulation results show that noncircular gear can effectively improve the jumping performance of the new jumping robot,and the jumping height reaches the expected design goal,which proves the rationality of the overall structure design and the feasibility of applying noncircular gear to the structure of the new jumping robot.