Trajectory Planning And Experiment Research Of Underactuated Hopping Robot

Because of its flexibility and adaptability, hopping robot has been a research focus inrobot field for about thirty years. After analyzing bionic hopping mechanism, mechanismmodel of underactuated hopping robot was created. The methmetical models of kinematicsand dynamics was established by using screw theory. Combined with trajectory of task spaceand optimization thoughs, motion characterizes of joint spaces were obtained and were testedand verified by experiments.On the base of analyzing biotic hopping mechanism, many design criteria of hoppingrobot was summed up. According to the design rules, mechanism model of underactuatedhopping robot was designed. Considering the convenience of follow-up research, the modelwas reduced to four-link hopping mechanism, and primary study on hopping mechanism wasalso completed.The jumping motion is a variable topology and variable constrains process. Thekinematics and dynamics equations of hoping robot during standing phases and flying phaseswere built with screw theory. Considering the particularity of soft-landing, the impactdynamics model of hopping robot was studied too.Task space trajectories of underactuated hopping robot were planned at each stage.Optional mathematic model, built with the target function of minimum torque in active joints,was used to plan trajectori of the hopping robot. Dynamic manipulability was defined basedon dynamic model of underactuated hopping robot, by which the planning results wereanalyzed. Finally, the trajectories of acive joints were optimized by optional mathematicmodel built with the target function of dynamic manipulablity.Test prototype of underactuated hopping robot and its control system were established.The experiments on hopping properties were done by using semi-active control method.Results proved the correctness of planning method and the feasibility of control method.The study of this dissertation provides some reference value for structure design andtrajectory planning of underactuated hopping robot.