Research On Dynamic Characteristics Of Soaring Phase Of One-legged Pneumatic Robot

One-legged hopping robot is a special bionic-legged robot.Research on attitude adjustment mechanism and control method of bounce leg posture is of great significance to the research of bionic-legged robot.The key technology of the three-dimensional space jumping of the robot is the control method of robot,while the adujusting mechanism of the bounce leg posture is the core and breakthrough point of control method.In this paper,the adujusting mechanism of the bounce leg posture is analyzed.A simulation model is established to find the relationship between the parameters of the leg and the length of the piston rod of two cylinders.By fitting the simulation data of many inverse solutions,a polynomial equation set for the relationship between the length of two cylinders and pendulum angle after discrete azimuth is established to quickly complete the calculation of the length of the cylinders and angles of the leg.The adjustment strategy is preliminarily proposed,and the influence of the posture adjustment process of the leg on the posture of the itself and stander is studied to prove the feasibility of the adjustment strategy and provide a theoretical basis for optimizing the posture control strategy of bounce leg.The method of calculating the rotational inertia of bounce leg and stander is derived.The torque synthesis equation of two cylinders and external force are derived.A mathematical model for the attitude adjustment strategy of the bounce leg is established.Co-simulation model is established according to the comprehensive mathematical model of soaring phase of one-legged robot.According to the different starting posture of the jumping leg and adjustment strategy,dynamic simulation of the adjusting process of the bounce leg is carried out and the hopping model of the robot in soaring phase stably come ture in theory.An experimental platform for adjusting the bounce leg posture is built.Control algorithm based on bounce leg posture and motion stability is written for attitude adjustment experiment of the bounce leg to verify the correctness and scientificity of the theoretical analysis,mathematical model and simulation results by experiment.In this paper,the posture change and motion rule of a single legged robot in the three dimensional space jump are studied and the adjustment strategy and control method off the relative posture between bounce leg and stander are finded.A platform for adjusting bounce leg posture is built to verify the correctness of theoretical analysis and the feasibility of control method.This paper provides some theoretical support and method for stable three-dimensional space jump of single legged robot.