Design and Attitude Control of a Stable Jumping Robot

doi:10.3901/JME.2020.23.034

Abstract

Abstract: In order to solve the problem of space attitude rotation of jumping robot, a stable jumping robot is designed from the aspects of structure and motion control. According to the basic jump model of spring inverted pendulum, a new type of eight link mechanism is designed based on the parallel four-bar mechanism, and an energy storage and release device is designed by using the clutch planetary wheel structure. The approximate straight-line optimization of the end track is carried out by using the theory of inflexion circle and minimum residual error. The simplified kinematics and dynamics model of the eight link mechanism is established, and the jumping simulation test is carried out. A double closed-loop feedback control system based on fuzzy PID control theory is designed, and a joint simulation model is built to simulate and test the whole structure dynamics and attitude control system. The test shows that the robot has a stable take-off basis in structure, and the stable attitude is maintained after the jump through the air attitude control, and the whole stable jump is realized.

Key words: jumping robot, eight link mechanism, trajectory optimization, co-simulation, attitude control

CLC Number:

TP242

CHEN Ziming, LU Jie, DENG Peng, GUO Yu, LI Yanwen. Design and Attitude Control of a Stable Jumping Robot[J]. Journal of Mechanical Engineering, 2020, 56(23): 34-44.

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