Trajectory Planning And Stability Analysis Of Bio-frog Jumping Robot

On flat ground,mobile robots perform well,but they are less capable of crossing barriers and are therefore more constrained by the terrain.The bouncing robot is better capable of crossing the obstacle,capable of crossing obstacles equal to several times or even tens of times its own size,and the bounce reaction time is short and the bouncing ability is strong,which greatly enhances the robot's adaptability to complex environments Ability to greatly enhance,and its obvious advantages in space exploration,which has broad application prospects.Based on the research status of bionic robot both at home and abroad,the structural design,kinematics and dynamics,trajectory planning and stability analysis of imitation frog bounce robot are analyzed by theoretical analysis and virtual prototype.The main achievements are as follows:(1)According to the frog leg length ratio and the relative range of motion,a bionic frog bounce robot structure model is established.The hydraulic cylinder is used as the driving original,and the bouncing height can be adjusted according to the situation to adapt different topographical conditions.(2)According to the kinematics model of robot,the relationship between each joint angle and posture of the robot is studied.The positive kinematics and inverse kinematics are analyzed by D-H theory.The second type Lagrangian method is used to analyze the dynamics of the imitation frog bouncing robot,and the dynamic equations of the three phases are established.By analyzing the dynamic coupling effect between the main and passive joints,the output force of the hydraulic cylinder can be solved under the condition of the known movement of the robot through the dynamic analysis,which lays a good foundation for the research on the control system of the subsequent imitation bungee jumping robot.(3)The trajectory planning of imitation frog bouncing robot is selected by using ant colony optimization algorithm.The three-dimensional model of imitation frog bouncing robot is established in Pro / E environment,and then imported into ADAMS software to use the trajectory of joint trajectory planning Then,the torque data of eachjoint obtained in the simulation process are compared with those of the MATLAB simulation results,and the correctness of trajectory planning is verified from the perspective of kinematics and dynamics.(4)A pair of mass model of the spring of imitation frog bouncing robot is established.Considering the frog ankle moment,the expression of the stability margin of front and back boundary of the dynamic stability region is obtained.According to the touchdown speed and the starting position of the center of mass of the frog in the landing phase,the dynamic stability region of the imitation frog bouncing robot in the landing stage was obtained by simulation.