Optimum Design And Experiment Research Of Legged Jumping Robot

Legged jumping robot shows multiple degree of freedom, strong risk aversion and small contact area with ground in performing tasks, which makes the robot suitable to achieve the complicated task in a harsh and unknown environment and becomes more flexible,safer,more widely application.Take-off phase is the most critical part of the entire jumping cycle because the performance of this phase can determine the jumping height and distance directly. In this thesis, creatures with jumping ability are selected as bionic prototypes to design a bionic robot with two joints, kinematic analysis and optimization problem in take-off phase are solved.Finally, the physical prototype experiment is finished to verify the plausibility of theory and method.For the motion model of the jumping robot, complexity of physiological structure is taken into consideration and the model theory of Biomechanics is adopted to simplify the structure. Through a comprehensive analysis of characteristics and similarities of hopping,the theoretical Analysis of the model is built. Finally, dynamic modeling is established on basis of the setting of the whole and other parts of the Local coordinate system.The motion planning problem is explored on this jumping robot. According to the kinetic analysis, the centroid trajectory planning in workspace is planned through the variable quintic polynomial. From the standpoint of inverse kinematics and combining with the planned centroid trajectory, the joint trajectory which can meet the requirements of joint limit avoidance and the singular avoidance is obtained.For constructional design, the velocity directional manipulability is used as the performance objective to measure the velocity transmissibility of the task direction,and the effect of the structural parameters on this objective was analyzed. Finally, parameter values which maximizie the indicator are obtained by setting the indicator to optimization goal.The prototype of legged jumping robot is made on the basis of optimized structural parameters and experiment requirements. The experiment is conducted refer to the planned joint trajectory on the platform. Experimental result is analyzed and ultimately the correctness of trajectory planning, structural parameters optimization and prototype design is verified.This paper analyzed the take-off phase of the bionic robot with two joints from the perspective of kinematics, proposed the implementation methods and then verified them through the experiments. It will provide certain reference value in expanding the application areas and the theoretical study of the legged robot.