关键词: 弹跳机器人, 翻转机构, 仿真优化, 三角重心理论

Abstract: In order to improve hopping robots’ ground adaptability and solve the overturn problem after hopping robots’ landing on the ground, a kind of tipping mechanism is designed from the research of locust and sea turtle’s tipping process. It features simple structure, easy control, and integration of supporting and tipping functions. The triangle and centre of gravity theory is used to analyze the robots’ tipping principle and process. Based on simulation, tipping mechanism is optimized in configuration and dimension to guarantee the robot with compact structure, light weight and high motor utilization ratio. The tipping mechanism platform is set up to verify the feasibility of the principle and the correctness of optimization design of the tipping mechanism, thus providing the theoretical basis for the further innovation research on hopping robots.

Key words: Hopping robot, Simulation and optimization, Tipping mechanism, Triangle and centre of gravity theory