Design of Balanced Wheeled Jumping Robot Based on the Motion Mechanism of Springtail

doi:10.3901/JME.2020.17.020

Abstract

Abstract: A new type of jumping robot is designed according to the biological structure and motion characteristics of the springtail, combined with wheel and jumping motion. The principlem echanism of jumping is designed by imitating the unique jumping mechanism of the springtail, and the dynamics equation of jumping mechanism in take-off and flight phase are built by Lagrange method and the model is simulated to verify the feasibility of the jumping principle. Through the composite design of wheel structure, the robot has the characteristics of balanced wheel movement, which reflects the portability of jumping mechanism. The robot control system was built, and the prototype was made by using 3D printing technology. The overall length, width, height and weight of the system were 15 cm, 9.5 cm, 7.5 cm and 268.6 g respectively. Experiments show that the robot has fast and continuous motion performance, energy storage and release can be completed in 1 s, and posture reset can be achieved in 1.5 s. With multi-motion mode, it can achieve the jump action of 20 cm high and 15 cm far, at the same time, it can complete the posture reset after jumping, balance wheeled movement, and self-balancing reset after falling down which is difficult to achieve by traditional balance car.

Key words: springtail, jumping robot, dynamics, balancing wheel, self-righting

CLC Number:

TP242

CHEN Ziming, LU Jie, DENG Peng, GUO Yu, LI Yanwen. Design of Balanced Wheeled Jumping Robot Based on the Motion Mechanism of Springtail[J]. Journal of Mechanical Engineering, 2020, 56(17): 20-28.

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