Research On The Charactistics Of The Jumping Behavior For The Bionic Robot

The bionic hopping robot is a micro hopping robot, which imitates the jump of nature biological and is designed and manufactured based on the bionics. The main feature is light weight, small size, has the ability of acrossing a relatively large obstacle and moving in a relatively complex terrain environment. This paper summarizes the basis of domestic and foreign bionic jump Robotics Research, mainly carry on research of the jump performance of bionic jump robot and optimization.Different jumping organization models of bionic robot were made, Denavit-Hartenberg method and the complex vector method were used to the kinematic analysis of take-off stage and vacated stage respectively. High-speed camera was used to obtain variation of bionic robot joint angle, and then MATLAB-Simulink modules were used to calculation of the robot take-off process, which include displacement, speed and acceleration of the center of mass, then to verify the correctness of the analysis.According to Speed transmission performance of the robot, bionic jumping robots of different mechanism with velocity manipulability measures as performance indicators, jumping performance of the robot was optimize to obtain the best take-off attitude.In ADAMS environment, a virtual prototype of the two institutions bionic jumping robot was established and the simulation of the jumping movement was made. The robot simulation was made to different take-off attitude before and after optimization, through the comparison of simulation results to verify the feasibility of the optimization analysis. Finally, the experimental prototype was produced, after many experiments, joint angle data which was desired by the kinematic analysis was obtained, and then through experiments, a more suitable installation location to the hind legs mechanism of the existing robot bodies could be found.