| The jumping robot with compound motion mode integrates crawling and jumping motion,has the advantages of high motion flexibility,the wide working space and high utilization of energy.It can move flexibly in unstructured and narrow space.It has a wide application prospect in the fields of debris search and rescue,field survey,forest patrol and so on.Therefore,the research on the jumping robot with compound motion mode has an important practical value.Firstly,the modular design idea of independent crawling system,jumping system and reset system is proposed,by studying the motion mechanism of collembola.This paper has analyzed the structure of the jumping organ of collembola,and designed a jumping scheme.Based on this scheme,designed the actuator of the jumping system.According to the actuator,designed a torsion spring energy storage mechanism,and the stiffness of the torsion spring is preliminarily determined.After considered the driving and transmission system,designed a collembola-like jumping system.By analyzing the characteristics of the driving components of traditional ground mobile robot,determined that the crawling system is driven by the hexapod C-shaped wheel-foot mechanism.After analyzing the gait of hexapod robot,proposed a new three-leg gait driven by double motors.Based on this gait,analyzed the motion of the C-shaped wheel foot mechanism to determine the optimal eccentricity of this wheel-foot mechanism.After considering the driving and transmission system,designed a hexapod crawling system driven by C-shaped wheel-foot mechanism.Based on the theory of robot conservative support polygon,proposed a robot reset scheme,and designed a self-reset system.After integrating the jumping system,crawling system and reset system,the structure design of the robot with compound motion mode finally had been completed.Completed the construction and assembly of virtual prototype,through the threedimensional drawing software UG.Secondly,established the kinematics model of jumping mechanism by using the D-H method,for the jumping process of the robot.Carried out the research from two aspects: forward kinematics and inverse kinematics.Proved the correctness of the kinematics analysis was verified by substituting the parameters of jumping mechanism.Through the kinematics model simulation,it had been proved that the workspace of the jumping mechanism is bigger than the space of the jumping scheme.Established the dynamic equation of the jumping mechanism by Lagrange method,the relationship between the force and speed of the robot was obtained,and the jumping boundary conditions were determined.The dynamic model was simulated by ADAMS to prove that the robot meets the boundary conditions and can complete the jumping.Then,a precise control algorithm of DC motor has been designed.By analyzing the relationship between the physical parameters of DC motor,the mathematical model of DC motor is determined.The motor control algorithm was optimized through integral amplitude limiting,fuzzy control and segmented start,based on double closedloop PI control.Established the control model in MATLAB and carried the simulation of control algorithm.The simulation results show that the algorithm was obviously optimized in the time of response time and the ripple of torque.Finally,based on the joint simulation of MATLAB and Adams,the crawling,jumping and resetting movements of the robot were simulated respectively.The results show that the robot can complete the crawling,jumping and resetting movements,and its maximum jumping height is 452 mm,which verifies the rationality of the robot structure design.Taking the phase of the crawling leg as a variable,a group of comparative simulation of the jumping ability was carried out to determine the phase range of the best jumping effect of the robot;According to the different landing posture of the jumping robot,the finite element analysis of the crawling leg and the reset wing was carried out by ANSYS.The analysis results show that the structure of the robot is reliable. |
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