Study On The Key Technology Of One-Leg Hopper Robot's Virtual Prototype

The research is developed under Natural Science Fund of Heilongjiang province. In order to produce a one-leg hopper robot which is of high adaptation to complex terrain, reliable capability and agile jumping ability, the research presented in this dissertation involves studies on one-leg hopper robot and series elastic actuator's mechanical design and dynamic models based on virtual prototype technology.First of all, the analysis of enormous research of hopper robots and their actuators at home and abroad was presented. Based on the features of hopping, the variational stiffness value charater of animal's muscle and the traditional mechanical design of elastic actuator, the Dual-Stiffness Elastic Actuator was presented, which better simulated animal's musle in that it can change its stiffness value according to load. Based on the character of the Dual-Stiffness Elastic Actuator's spring, the mechanical design of the parallel spring actuator and the series spring actuator was provided and the dynamics of both was analyzed. The selection principle of motor elastic actuator's parts and its mechanical structure were introduced. In addition, the electrocircuit and control software were designed.Secondly, the mechanical structure of one-leg hopping robot was founded and the principal of choosing elastic actuator was demonstrated particularly. The dynamics of one-leg hopper robot which was based on Symmetrical Running was analyzed. Thus, the control methods and strategies of one-hopping robot's hopping height, forward speed and body attitude adjuting were concluded.Last but not the least, a great number of simulations on motor elastic actuator and one-leg hopper robot, which were based on ADAMS and MATLAB/Simulink, were carried on. The control band and mechanical impedence of motor elastic actuator, the hopping height, forward speed and body attitude of one-leg hopper robot were included. Based on the above, the correctness of their structure was validated and a number of valuable data and conclusions were drawn, which provided potent reference for the development of one-leg hopper robot's real prototype.